Robust Speed Control for Robot Arm Considering Angular Transmission Error of Gear

• Miyazaki Toshimasa

  Nagaoka University of Technology

• Ohishi Kiyoshi

  Nagaoka University of Technology

• Hashimoto Atsumi

  Matsushita Industorial Equipment

• Nakatsuka Takashi

  Matsushita Industorial Equipment

Bibliographic Information

Other Title

• 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

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

• IEEJ Transactions on Industry Applications

  IEEJ Transactions on Industry Applications 118 (12), 1427-1434, 1998

  The Institute of Electrical Engineers of Japan

Keywords

• 波動歯車型減速機
• 角度伝達誤差
• 既約分解表現
• ロバスト制御
• 振動抑制制御

Details

• CRID: 1390282679636099328
• NII Article ID: 10002727665
• NII Book ID: AN10012320
• DOI: 10.1541/ieejias.118.1427
• ISSN: 13488163
• ISSN: 09136339
• ISSN: http://id.crossref.org/issn/09136339
• NDL BIB ID: 4612074
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4612074
• Web Site: http://www.jstage.jst.go.jp/article/ieejias1987/118/12/118_12_1427/_pdf
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed