Recursive control of robot manipulator with elasticity

H. Yan, T. Murakami, K. Yuki, K. Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

This paper presents an advanced method for suppressing torsional vibration of a flexible joint which connects a motor shaft and a driven arm. In the proposed method, at first, the position controller is designed on the basis of a model of rigid arm by recursive control law. After that, a compensation element is added to increase the stability of the total system, where only motor velocity is used for the purpose. The proposed method realizes a robust control and because of its model-free structure it is easy to implement the proposed algorithm. Experimental results are also presented to show its effectiveness.

本文言語English
ホスト出版物のタイトルDrives I
編集者 Anon
出版社Publ by IEE
ページ468-473
ページ数6
377
ISBN(印刷版)0852965877
出版ステータスPublished - 1993 12 1
イベントProceedings of the 5th European Conference on Power Electronics and Applications - Brighton, Engl
継続期間: 1993 9 131993 9 16

出版物シリーズ

名前IEE Conference Publication
番号377
5
ISSN(印刷版)0537-9987

Other

OtherProceedings of the 5th European Conference on Power Electronics and Applications
CityBrighton, Engl
Period93/9/1393/9/16

ASJC Scopus subject areas

  • 電子工学および電気工学

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