Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator

Junji Oaki, Shuichi Adachi

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

2 Citations (Scopus)

Abstract

This paper provides a practical solution for precise and fast control of an elastic-joint robot arm using motor-side sensors only. We previously proposed a torsion-angular velocity feedback (TVFB) scheme for vibration-suppression control. The scheme utilizes an uncomplicated nonlinear observer based on a physically-parameterized dynamic model of the elastic-joint robot arm. The TVFB can be easily plugged into existing joint servos like PI velocity controllers. Using the elastic-joint robot arm, this paper experimentally demonstrates that the TVFB is equivalent to a nonlinear-model-based phase-lead compensator. Furthermore, several experiments are conducted to validate that the TVFB scheme has the capability to satisfy both vibration-suppression and fast-positioning control.

Original languageEnglish
Title of host publication2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages281-287
Number of pages7
ISBN (Print)9781479977871
DOIs
Publication statusPublished - 2015 Nov 4
EventIEEE Conference on Control and Applications, CCA 2015 - Sydney, Australia
Duration: 2015 Sep 212015 Sep 23

Other

OtherIEEE Conference on Control and Applications, CCA 2015
CountryAustralia
CitySydney
Period15/9/2115/9/23

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Oaki, J., & Adachi, S. (2015). Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator. In 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings (pp. 281-287). [7320642] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2015.7320642