Motion control for articulated robots based on accurate modeling

Yuhki Kosaka, Akira Shimada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages535-540
Number of pages6
Publication statusPublished - 2004
Externally publishedYes
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki
Duration: 2004 Mar 252004 Mar 28

Other

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

Fingerprint

Motion control
Robots
Manipulators
Rotors
Control systems
Rigidity
Gears
Controllers

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Kosaka, Y., & Shimada, A. (2004). Motion control for articulated robots based on accurate modeling. In International Workshop on Advanced Motion Control, AMC (pp. 535-540)

Motion control for articulated robots based on accurate modeling. / Kosaka, Yuhki; Shimada, Akira.

International Workshop on Advanced Motion Control, AMC. 2004. p. 535-540.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kosaka, Y & Shimada, A 2004, Motion control for articulated robots based on accurate modeling. in International Workshop on Advanced Motion Control, AMC. pp. 535-540, Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, 04/3/25.
Kosaka Y, Shimada A. Motion control for articulated robots based on accurate modeling. In International Workshop on Advanced Motion Control, AMC. 2004. p. 535-540
Kosaka, Yuhki ; Shimada, Akira. / Motion control for articulated robots based on accurate modeling. International Workshop on Advanced Motion Control, AMC. 2004. pp. 535-540
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