Vibration Control without Estimated Disturbance Feedback for Robot Manipulators

Yuhki Kosaka, Akira Shimada, Pakpoom Viboonchaicheep

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

2 Citations (Scopus)

Abstract

This paper presents the vibration suppression control technique for the robot manipulators. To make the technique fit for practice, the presented robot controller is characterized by the function that considers the low-stiffness kept in the mechanical reduction gears in the robot joints. And it is designed as the sampled-data servo controller using the state space form digital disturbance observer. The reason not to utilize the transfer function form disturbance observer but the state space form one is to make the best use of the feature that the latter one can estimates not only disturbance but also the other state variables under the disturbance. And we suppose that the presented control method including above observer is essentially useful for such low-stiffness plants.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages848-853
Number of pages6
Volume1
DOIs
Publication statusPublished - 2003
Externally publishedYes
EventThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA
Duration: 2003 Nov 22003 Nov 6

Other

OtherThe 29th Annual Conference of the IEEE Industrial Electronics Society
CityRoanoke, VA
Period03/11/203/11/6

Fingerprint

Vibration control
Manipulators
Robots
Feedback
Stiffness
Controllers
Transfer functions
Gears

Keywords

  • A vibration
  • Disturbance observer
  • Robot
  • Sampled-data control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Kosaka, Y., Shimada, A., & Viboonchaicheep, P. (2003). Vibration Control without Estimated Disturbance Feedback for Robot Manipulators. In IECON Proceedings (Industrial Electronics Conference) (Vol. 1, pp. 848-853) https://doi.org/10.1109/IECON.2003.1280093

Vibration Control without Estimated Disturbance Feedback for Robot Manipulators. / Kosaka, Yuhki; Shimada, Akira; Viboonchaicheep, Pakpoom.

IECON Proceedings (Industrial Electronics Conference). Vol. 1 2003. p. 848-853.

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

Kosaka, Y, Shimada, A & Viboonchaicheep, P 2003, Vibration Control without Estimated Disturbance Feedback for Robot Manipulators. in IECON Proceedings (Industrial Electronics Conference). vol. 1, pp. 848-853, The 29th Annual Conference of the IEEE Industrial Electronics Society, Roanoke, VA, 03/11/2. https://doi.org/10.1109/IECON.2003.1280093
Kosaka Y, Shimada A, Viboonchaicheep P. Vibration Control without Estimated Disturbance Feedback for Robot Manipulators. In IECON Proceedings (Industrial Electronics Conference). Vol. 1. 2003. p. 848-853 https://doi.org/10.1109/IECON.2003.1280093
Kosaka, Yuhki ; Shimada, Akira ; Viboonchaicheep, Pakpoom. / Vibration Control without Estimated Disturbance Feedback for Robot Manipulators. IECON Proceedings (Industrial Electronics Conference). Vol. 1 2003. pp. 848-853
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