Robust fast tracking control for multi-degrees-of-freedom motion system considering torque saturation

Masaki Sazawa, Kiyoshi Ohishi, Seiichiro Katsura, Sho Kato

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

1 Citation (Scopus)

Abstract

Robust fast continuous path tracking control is the important technology for the multi-degrees-of-freedom position control system such as X-Y table, robot manipulator and so on. Especially, large acceleration and/or deceleration torque is necessary for fast continuous path tracking control at its start position and its goal position. Each motor of high speed path tracking control has the torque limitation. This motor cannot always obtain the enough acceleration and/or deceleration torque due to its torque limitation. Hence, in controlling a multi-degree-of-freedom position control system, even if motor torque of only one axis has torque limitation, the actual position response is not equal to the trajectory reference. In fast continuous path tracking control of multi-degree-of-freedom position control system, the position error sometimes increases according to the unknown disturbance torque and inertia variation. In order to overcome these problems, this paper proposes a new robust fast continuous path tracking control algorithm taking into account both the torque saturation and the coordinated motion, which is based on the robust acceleration control using disturbance observer. The proposed method assures the coordinated motion considering the torque limitation. The effectiveness of the proposed method is confirmed by the experimental results in this paper.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Industrial Technology, IEEE ICIT 2008 - Chengdu, China
Duration: 2008 Apr 212008 Apr 24

Other

Other2008 IEEE International Conference on Industrial Technology, IEEE ICIT 2008
CountryChina
CityChengdu
Period08/4/2108/4/24

Fingerprint

Degrees of freedom (mechanics)
Torque
Position control
Deceleration
Control systems
Acceleration control
Torque motors
Robust control
Manipulators
Trajectories
Robots

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

Cite this

Sazawa, M., Ohishi, K., Katsura, S., & Kato, S. (2008). Robust fast tracking control for multi-degrees-of-freedom motion system considering torque saturation. In Proceedings of the IEEE International Conference on Industrial Technology [4608419] https://doi.org/10.1109/ICIT.2008.4608419

Robust fast tracking control for multi-degrees-of-freedom motion system considering torque saturation. / Sazawa, Masaki; Ohishi, Kiyoshi; Katsura, Seiichiro; Kato, Sho.

Proceedings of the IEEE International Conference on Industrial Technology. 2008. 4608419.

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

Sazawa, M, Ohishi, K, Katsura, S & Kato, S 2008, Robust fast tracking control for multi-degrees-of-freedom motion system considering torque saturation. in Proceedings of the IEEE International Conference on Industrial Technology., 4608419, 2008 IEEE International Conference on Industrial Technology, IEEE ICIT 2008, Chengdu, China, 08/4/21. https://doi.org/10.1109/ICIT.2008.4608419
Sazawa M, Ohishi K, Katsura S, Kato S. Robust fast tracking control for multi-degrees-of-freedom motion system considering torque saturation. In Proceedings of the IEEE International Conference on Industrial Technology. 2008. 4608419 https://doi.org/10.1109/ICIT.2008.4608419
Sazawa, Masaki ; Ohishi, Kiyoshi ; Katsura, Seiichiro ; Kato, Sho. / Robust fast tracking control for multi-degrees-of-freedom motion system considering torque saturation. Proceedings of the IEEE International Conference on Industrial Technology. 2008.
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