Multirate feedforward control of robot manipulators

Akira Shimada, Tsuyoshi Takeda

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

2 Citations (Scopus)

Abstract

This paper introduces a novel multirate feedforward control method for robot manipulators with elastic joints. Perfect tracking control methodology using multirate feedforward control was proposed by H. Fujimoto, et. al. Furthermore, A. Shimada, et. al. have described its application to robot manipulators; however, they only described the controller design process and gave a few simulation results. In addition, they did not provide details on how the state reference should be designed. Even if experiments are attempted, it is difficult to evaluate control performance since generally manipulators have joint angle sensors mounted on the output side of reduction gears, especially since the product of the angle of rotors and the reduction gear ratio does not always correspond with the joint angles. In order to solve this problem, this paper illustrates the design process for a state reference for manipulators, and introduces a prototype robot manipulator that has precision rotary encoders installed on the output side of the joints. This means that the manipulator as a platform not only has rotary encoders attached to servo motors but special rotary encoders. We describe experimental control results obtained by applying this control technique.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages4083-4088
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 2007 Oct 292007 Nov 2

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Multirate feedforward control of robot manipulators'. Together they form a unique fingerprint.

  • Cite this

    Shimada, A., & Takeda, T. (2007). Multirate feedforward control of robot manipulators. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 4083-4088). [4399367] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399367