Motion control for articulated robots based on accurate modeling

Yuhki Kosaka, Akira Shimada

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

This paper proposes a motion control technique for robot manipulators. And the strongest point of the technique is high performance on vibration suppression. The robot control system proposed is characterized by a function that considers the rotor dynamics including rotor masses and the low rigidity in the mechanical reduction gears. The controller is designed as a sampled-data optimal servo control system with a digital disturbance observer expressed by state space form. Finally, an experimental result on a real two degrees of freedom robot manipulator is shown.

Original languageEnglish
Pages535-540
Number of pages6
Publication statusPublished - 2004 Jul 12
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Conference

ConferenceProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CountryJapan
CityKawasaki
Period04/3/2504/3/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Kosaka, Y., & Shimada, A. (2004). Motion control for articulated robots based on accurate modeling. 535-540. Paper presented at Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan.