Recursive control of robot manipulator with elasticity

H. Yan, T. Murakami, K. Yuki, K. Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper presents an advanced method for suppressing torsional vibration of a flexible joint which connects a motor shaft and a driven arm. In the proposed method, at first, the position controller is designed on the basis of a model of rigid arm by recursive control law. After that, a compensation element is added to increase the stability of the total system, where only motor velocity is used for the purpose. The proposed method realizes a robust control and because of its model-free structure it is easy to implement the proposed algorithm. Experimental results are also presented to show its effectiveness.

Original languageEnglish
Title of host publicationDrives I
Editors Anon
PublisherPubl by IEE
Pages468-473
Number of pages6
Edition377
ISBN (Print)0852965877
Publication statusPublished - 1993 Dec 1
EventProceedings of the 5th European Conference on Power Electronics and Applications - Brighton, Engl
Duration: 1993 Sep 131993 Sep 16

Publication series

NameIEE Conference Publication
Number377
Volume5
ISSN (Print)0537-9987

Other

OtherProceedings of the 5th European Conference on Power Electronics and Applications
CityBrighton, Engl
Period93/9/1393/9/16

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Yan, H., Murakami, T., Yuki, K., & Ohnishi, K. (1993). Recursive control of robot manipulator with elasticity. In Anon (Ed.), Drives I (377 ed., pp. 468-473). (IEE Conference Publication; Vol. 5, No. 377). Publ by IEE.