Position control of middle load point of 2-DOF resonant system

Kohei Torikai, Seiichiro Katsura

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

Advanced robotic systems have been developed to realize robot society, a mechanism and a control theory of these systems have been researched for a long time. Due to the advantages of low cost and safety, these systems with flexible mechanism are required in the future. However, the fast response of such a system which is regarded as a resonant system induces a vibration caused by mechanical resonances. Therefore, motion control theories for resonant systems have been extensively researched to improve motion response, most of these control theories are directed to the state of tip mass. This paper focuses on control theory for the position of arbitrary mass of multi-mass resonant model, proposes position control of 2-DOF resonant system. In this paper, a 2-DOF resonant system is modeled as a superposition of two-mass resonant models. The controller design is based on an assumptions; two actuators independently act on the state of middle mass, which is regarded as load. Therefore, the position control of middle mass of a 2-DOF resonant system is realized. Simulations and experiments verify the effectiveness of the proposed control theory.

元の言語English
ホスト出版物のタイトルProceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
出版者Institute of Electrical and Electronics Engineers Inc.
ページ7294-7299
ページ数6
2017-January
ISBN(電子版)9781538611272
DOI
出版物ステータスPublished - 2017 12 15
イベント43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China
継続期間: 2017 10 292017 11 1

Other

Other43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
China
Beijing
期間17/10/2917/11/1

    フィンガープリント

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Control and Optimization
  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering

これを引用

Torikai, K., & Katsura, S. (2017). Position control of middle load point of 2-DOF resonant system. : Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society (巻 2017-January, pp. 7294-7299). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2017.8217277