Vibration control of flexible joint based on link velocity estimation

Shin'ichi Kondo, Kenji Kaneko, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

The authors present a novel control method to suppress the torsional vibration of a flexible joint which connects the motor shaft and the driven link. To obtain the stability against the torsional vibration, it is necessary to insert an artificial damper element to some extent in the control law. Estimated link velocity is fed back for damping. This link velocity is estimated by an observer without using any sensor for the link portion. For the purpose of the estimation, an acceleration controller which is realized by a disturbance observer, is applied. The experimental results are shown to verify the proposed method.

本文言語English
ホスト出版物のタイトルIECON Proceedings (Industrial Electronics Conference)
出版社Publ by IEEE
ページ449-454
ページ数6
ISBN(印刷版)0879426888
出版ステータスPublished - 1991 12 1
イベントProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn
継続期間: 1991 10 281991 11 1

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
1

Other

OtherProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91
CityKobe, Jpn
Period91/10/2891/11/1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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