Vibration suppression control of a serial two-link two-inertia system based on physical-parameter estimation

Junji Oaki, Shuichi Adachi

研究成果: Article査読

4 被引用数 (Scopus)

抄録

The purpose of our study is to achieve the dynamic model-based control of a nonlinear robot arm, while taking jointelasticity into consideration. We previously proposed a multi-input multi-output system identification method, called the decoupling identification method, for a planar two-link robot arm with elastic-joints due to the Harmonic-drive reduction gears. The robot arm is treated herein as a serial two-link two-inertia system with nonlinearity. Physical parameters such as motor inertias, link inertias, joint-friction coefficients, and joint-spring coefficients of the robot dynamic model are accurately estimated by the decoupling identification method. This paper describes a simple method for achieving the vibration suppression control of a serial two-link two-inertia system based on physical-parameter estimation. We propose a torsional angular velocity feedback scheme, which can be "plugged-in" to an existing PI velocity controller, using a nonlinear state observer based on the accurately estimated dynamic model. In addition, we propose a gain-scheduling control scheme that involves switching inertia parameters to compensate for payload variation. Through several experiments, we demonstrate the effectiveness of the proposed control method by using the elastic-joint robot arm.

本文言語English
ページ(範囲)94-104
ページ数11
ジャーナルieej transactions on industry applications
133
1
DOI
出版ステータスPublished - 2013 2 4

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学

フィンガープリント

「Vibration suppression control of a serial two-link two-inertia system based on physical-parameter estimation」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル