Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator

Junji Oaki, Shuichi Adachi

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

This paper provides a practical solution for precise and fast control of an elastic-joint robot arm using motor-side sensors only. We previously proposed a torsion-angular velocity feedback (TVFB) scheme for vibration-suppression control. The scheme utilizes an uncomplicated nonlinear observer based on a physically-parameterized dynamic model of the elastic-joint robot arm. The TVFB can be easily plugged into existing joint servos like PI velocity controllers. Using the elastic-joint robot arm, this paper experimentally demonstrates that the TVFB is equivalent to a nonlinear-model-based phase-lead compensator. Furthermore, several experiments are conducted to validate that the TVFB scheme has the capability to satisfy both vibration-suppression and fast-positioning control.

本文言語English
ホスト出版物のタイトル2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
出版社Institute of Electrical and Electronics Engineers Inc.
ページ281-287
ページ数7
ISBN(電子版)9781479977871
DOI
出版ステータスPublished - 2015 11 4
イベントIEEE Conference on Control and Applications, CCA 2015 - Sydney, Australia
継続期間: 2015 9 212015 9 23

出版物シリーズ

名前2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings

Other

OtherIEEE Conference on Control and Applications, CCA 2015
国/地域Australia
CitySydney
Period15/9/2115/9/23

ASJC Scopus subject areas

  • 制御およびシステム工学

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