This paper presents a position control method to suppress vibration and the arm disturbance torque of flexible link arm. The feedback of the reaction torque is effective for the suppression of the arm vibration. In such method, however, the robustness against the arm disturbance decreases since its effect directly imposes on the motor side through the reaction torque feedback. In this paper, we propose the method to reject arm disturbance under the reaction torque feedback. Here, two strategies to estimate the arm disturbance are proposed. Then the estimated arm disturbance is feedback through the inverse system of the motor side. The validity of the proposed method is confirmed by several numerical results.
|出版ステータス||Published - 1995 12 1|
|イベント||Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2) - Orlando, FL, USA|
継続期間: 1995 11 6 → 1995 11 10
|Other||Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2)|
|City||Orlando, FL, USA|
|Period||95/11/6 → 95/11/10|
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