ギアの角度伝達誤差を考慮したロボットアームのロバスト速度制御系の一構成法 [in Japanese] Rovust Speed Control for Robot Arm Considering Angular Transmission Error of Gear [in Japanese]
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This paper proposes a new numerical simulation model of angular transmission error of strain wave gear, and designs a robust speed control system for the robot arm with this angular transmission error. The proposed numerical simulation model can confirm the vibration of the robot arm caused by this angular transmission error. It is very difficult for the conventional control system using both a PI controller and a state feedback to suppress the vibration of the robot arm completely. The proposed robust speed control system, which is a two-degrees-of-freedom control system based on disturbance observer, can suppress the arm vibration. The numerical simulation results show the proposed system well regulates the motor speed and suppresses the vibration of load speed.
- IEEJ Transactions on Sensors and Micromachines
IEEJ Transactions on Sensors and Micromachines 118(12), 1427-1434, 1998-12-01
The Institute of Electrical Engineers of Japan