Vibration suppression motor drive control for industrial robot using notch filter with little phase error

Toshimasa Miyazaki, Hisashi Kataoka, Somsawas Tungpataratanawong, Kiyoshi Ohishi, Seiichiro Katsura

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

This paper proposes a new generation method of position reference without the resonant frequency and phase error for industrial robots. It is important for the industrial robot to drive high speed and high accuracy. However, the vibration phenomenon is generated by the resonant frequency in such eases. Conventionally, the notch filter is used to suppress the vibration phenomenon. It is able to eliminate a particular frequency. However, it also has a disadvantage that the reference phase error is generated. Generating the phase error in the reference, the critical error is generated in the locus which the robot draws, Therefore, the accuracy of the robot is deteriorated by using the notch filter. The proposed method overcomes this problem by using the compensation gain. The compensation gain is used to calculate the reference phase error. The compensation of the reference phase error is performed by the feedforward. The simulation results and the experimental results show that the proposed method is superior to suppress the resonant frequency and improves the phase error.

本文言語English
ホスト出版物のタイトルFourth Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Conference Proceedings
ページ1618-1623
ページ数6
DOI
出版ステータスPublished - 2007
外部発表はい
イベント4th Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Nagoya, Japan
継続期間: 2007 4 22007 4 5

出版物シリーズ

名前Fourth Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Conference Proceedings

Other

Other4th Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007
国/地域Japan
CityNagoya
Period07/4/207/4/5

ASJC Scopus subject areas

  • エネルギー(全般)
  • 電子工学および電気工学

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