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 publicationIEEE International Conference on Intelligent Robots and Systems
Pages4083-4088
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA
Duration: 2007 Oct 292007 Nov 2

Other

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

Fingerprint

Feedforward control
Manipulators
Robots
Gears
Rotors
Controllers
Sensors
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

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

Multirate feedforward control of robot manipulators. / Shimada, Akira; Takeda, Tsuyoshi.

IEEE International Conference on Intelligent Robots and Systems. 2007. p. 4083-4088 4399367.

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

Shimada, A & Takeda, T 2007, Multirate feedforward control of robot manipulators. in IEEE International Conference on Intelligent Robots and Systems., 4399367, pp. 4083-4088, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, 07/10/29. https://doi.org/10.1109/IROS.2007.4399367
Shimada A, Takeda T. Multirate feedforward control of robot manipulators. In IEEE International Conference on Intelligent Robots and Systems. 2007. p. 4083-4088. 4399367 https://doi.org/10.1109/IROS.2007.4399367
Shimada, Akira ; Takeda, Tsuyoshi. / Multirate feedforward control of robot manipulators. IEEE International Conference on Intelligent Robots and Systems. 2007. pp. 4083-4088
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