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

Kohei Torikai, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

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

出版物シリーズ

名前Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
2017-January

Other

Other43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
国/地域China
CityBeijing
Period17/10/2917/11/1

ASJC Scopus subject areas

  • 産業および生産工学
  • 制御と最適化
  • エネルギー工学および電力技術
  • 電子工学および電気工学

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