Vibration control of flexible joint based on link velocity estimation

Shin'ichi Kondo, Kenji Kaneko, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

The authors present a novel control method to suppress the torsional vibration of a flexible joint which connects the motor shaft and the driven link. To obtain the stability against the torsional vibration, it is necessary to insert an artificial damper element to some extent in the control law. Estimated link velocity is fed back for damping. This link velocity is estimated by an observer without using any sensor for the link portion. For the purpose of the estimation, an acceleration controller which is realized by a disturbance observer, is applied. The experimental results are shown to verify the proposed method.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherPubl by IEEE
Pages449-454
Number of pages6
ISBN (Print)0879426888
Publication statusPublished - 1991 Dec 1
EventProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn
Duration: 1991 Oct 281991 Nov 1

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume1

Other

OtherProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91
CityKobe, Jpn
Period91/10/2891/11/1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Kondo, S., Kaneko, K., & Ohnishi, K. (1991). Vibration control of flexible joint based on link velocity estimation. In IECON Proceedings (Industrial Electronics Conference) (pp. 449-454). (IECON Proceedings (Industrial Electronics Conference); Vol. 1). Publ by IEEE.