Vibration Control without Estimated Disturbance Feedback for Robot Manipulators

Yuhki Kosaka, Akira Shimada, Pakpoom Viboonchaicheep

Research output: Contribution to conferencePaper

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
Pages848-853
Number of pages6
DOIs
Publication statusPublished - 2003 Dec 1
EventThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States
Duration: 2003 Nov 22003 Nov 6

Conference

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

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Kosaka, Y., Shimada, A., & Viboonchaicheep, P. (2003). Vibration Control without Estimated Disturbance Feedback for Robot Manipulators. 848-853. Paper presented at The 29th Annual Conference of the IEEE Industrial Electronics Society, Roanoke, VA, United States. https://doi.org/10.1109/IECON.2003.1280093