TY - JOUR
T1 - Vibration Control of Flexible Manipulator taking Friction-depending Disturbance into account
AU - Jun, Suzuki
AU - Toshiyuki, Murakami
AU - Kouhei, Ohnishi
PY - 2002/9/1
Y1 - 2002/9/1
N2 - Recently, a lot of studies for vibration control of flexible manipulators have been reported. In 2 mass resonant system, “Resonance ratio control” is one of effective control methods. However, in this method, the robustness against the arm disturbance decreases. To improve this issue, the resonance ratio control with the arm disturbance observer is proposed. The arm disturbance observer is powerful. But, it is not robust enough to suppress friction-depending disturbance. There exists stick-slip friction effect when the arm moves slowly. The arm disturbance observer cannot compensate such a friction effect, and the vibration due to the stick-slip motion is induced. This paper proposes vibration control of flexible manipulator taking friction-depending disturbance into account. Here, the command generation is divided into two stages. First, friction is estimated by the arm disturbance observer. Second, the friction-depending disturbance can be rejected with the estimation result. The validity of the proposed method is also shown by simulations and experiments.
AB - Recently, a lot of studies for vibration control of flexible manipulators have been reported. In 2 mass resonant system, “Resonance ratio control” is one of effective control methods. However, in this method, the robustness against the arm disturbance decreases. To improve this issue, the resonance ratio control with the arm disturbance observer is proposed. The arm disturbance observer is powerful. But, it is not robust enough to suppress friction-depending disturbance. There exists stick-slip friction effect when the arm moves slowly. The arm disturbance observer cannot compensate such a friction effect, and the vibration due to the stick-slip motion is induced. This paper proposes vibration control of flexible manipulator taking friction-depending disturbance into account. Here, the command generation is divided into two stages. First, friction is estimated by the arm disturbance observer. Second, the friction-depending disturbance can be rejected with the estimation result. The validity of the proposed method is also shown by simulations and experiments.
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U2 - 10.1541/ieejias.122.235
DO - 10.1541/ieejias.122.235
M3 - Article
AN - SCOPUS:3042584630
VL - 122
SP - 235
EP - 240
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 3
ER -