Reaction torque feedback based vibration control in multi-degrees of freedom motion system

Masaru Kino, Tatsuhito Goden, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

10 被引用数 (Scopus)

抄録

This paper presents a position control method in multi-degrees of freedom flexible manipulator. For the control of flexible manipulator, it is easy to construct the controller in each joint. In practical application, however, the workspace is preferred to the joint space for position control of multi-degrees of freedom manipulator. This paper shows a novel control strategy of flexible manipulator in the workspace. First, to suppress the vibration of the arm, the proposed approach introduces the feedback of reaction torque. Second the controller includes a displacement feedback caused by the elastic deformation of the arm to increase the response speed. The combination of the reaction torque feedback in the joint space and the displacement feedback brings the stable and robust position control in multi-degrees of freedom flexible manipulator. The effectiveness of the proposed method is confirmed by several experiments.

本文言語English
ページ1807-1811
ページ数5
出版ステータスPublished - 1998 1月 1
イベントProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) - Aachen, Ger
継続期間: 1998 8月 311998 9月 4

Other

OtherProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4)
CityAachen, Ger
Period98/8/3198/9/4

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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