### 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 language | English |
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Title of host publication | Proceedings of the IEEE International Conference on Industrial Technology |

DOIs | |

Publication status | Published - 2008 |

Externally published | Yes |

Event | 2008 IEEE International Conference on Industrial Technology, IEEE ICIT 2008 - Chengdu, China Duration: 2008 Apr 21 → 2008 Apr 24 |

### Other

Other | 2008 IEEE International Conference on Industrial Technology, IEEE ICIT 2008 |
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Country | China |

City | Chengdu |

Period | 08/4/21 → 08/4/24 |

### Fingerprint

### ASJC Scopus subject areas

- Electrical and Electronic Engineering
- Computer Science Applications

### Cite this

*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.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*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

}

TY - GEN

T1 - Robust fast tracking control for multi-degrees-of-freedom motion system considering torque saturation

AU - Sazawa, Masaki

AU - Ohishi, Kiyoshi

AU - Katsura, Seiichiro

AU - Kato, Sho

PY - 2008

Y1 - 2008

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=54549119448&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=54549119448&partnerID=8YFLogxK

U2 - 10.1109/ICIT.2008.4608419

DO - 10.1109/ICIT.2008.4608419

M3 - Conference contribution

AN - SCOPUS:54549119448

SN - 9781424417063

BT - Proceedings of the IEEE International Conference on Industrial Technology

ER -