Robust Speed Control for Robot Arm Considering Angular Transmission Error of Gear
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- Miyazaki Toshimasa
- Nagaoka University of Technology
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- Ohishi Kiyoshi
- Nagaoka University of Technology
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- Hashimoto Atsumi
- Matsushita Industorial Equipment
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- Nakatsuka Takashi
- Matsushita Industorial Equipment
Bibliographic Information
- Other Title
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- 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
- ギア ノ カクド デンタツ ゴサ オ コウリョ シタ ロボットアーム ノ ロバ
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Abstract
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.
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 118 (12), 1427-1434, 1998
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390282679636099328
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- NII Article ID
- 10002727665
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- NII Book ID
- AN10012320
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- ISSN
- 13488163
- 09136339
- http://id.crossref.org/issn/09136339
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- NDL BIB ID
- 4612074
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed