Recursive control of robot manipulator with elasticity

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

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

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 publicationIEE Conference Publication
Editors Anon
PublisherPubl by IEE
Pages468-473
Number of pages6
Volume5
Edition377
ISBN (Print)0852965877
Publication statusPublished - 1993
EventProceedings of the 5th European Conference on Power Electronics and Applications - Brighton, Engl
Duration: 1993 Sep 131993 Sep 16

Other

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

Fingerprint

Manipulators
Elasticity
Robots
Robust control
Controllers
Compensation and Redress

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Yan, H., Murakami, T., Yuki, K., & Ohnishi, K. (1993). Recursive control of robot manipulator with elasticity. In Anon (Ed.), IEE Conference Publication (377 ed., Vol. 5, pp. 468-473). Publ by IEE.

Recursive control of robot manipulator with elasticity. / Yan, H.; Murakami, Toshiyuki; Yuki, K.; Ohnishi, K.

IEE Conference Publication. ed. / Anon. Vol. 5 377. ed. Publ by IEE, 1993. p. 468-473.

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

Yan, H, Murakami, T, Yuki, K & Ohnishi, K 1993, Recursive control of robot manipulator with elasticity. in Anon (ed.), IEE Conference Publication. 377 edn, vol. 5, Publ by IEE, pp. 468-473, Proceedings of the 5th European Conference on Power Electronics and Applications, Brighton, Engl, 93/9/13.
Yan H, Murakami T, Yuki K, Ohnishi K. Recursive control of robot manipulator with elasticity. In Anon, editor, IEE Conference Publication. 377 ed. Vol. 5. Publ by IEE. 1993. p. 468-473
Yan, H. ; Murakami, Toshiyuki ; Yuki, K. ; Ohnishi, K. / Recursive control of robot manipulator with elasticity. IEE Conference Publication. editor / Anon. Vol. 5 377. ed. Publ by IEE, 1993. pp. 468-473
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