A motion control of flexible joint based on velocity estimation

Kenji Kaneko, Shin'ichi Kondo, Kouhei Ohnishi

研究成果: Conference contribution

12 被引用数 (Scopus)

抄録

The authors propose a novel control method based on two observers to suppress the vibration of a flexible joint, even under fast motion. One observer is a disturbance observer and is used for the realization of an acceleration controller of the motor axis. The other observer estimates the link velocity and is effective for the suppression of torsional vibration. The disturbance observer estimates the total sum of the disturbance torques which are imposed on the motor axis. Feedback compensation by this estimated disturbance torque increases the servo stiffness and the robustness of the motor portion. The feedback of the estimated link velocity totally suppresses the torsional vibration of the flexible joint even under fast motion. The proposed control was implemented in a 16-b microprocessor with a digital signal processor for a laboratory test.

本文言語English
ホスト出版物のタイトルSignal Processing and System Control Factory Automation
出版社Publ by IEEE
ページ279-284
ページ数6
ISBN(印刷版)0879426004
出版ステータスPublished - 1990 12 1
イベント16th Annual Conference of IEEE Industrial Electronics Society - IECON'90 - Pacific Grove, CA, USA
継続期間: 1990 11 271990 11 30

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
1

Other

Other16th Annual Conference of IEEE Industrial Electronics Society - IECON'90
CityPacific Grove, CA, USA
Period90/11/2790/11/30

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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