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 language | English |
|---|---|
| Title of host publication | IECON Proceedings (Industrial Electronics Conference) |
| Pages | 848-853 |
| Number of pages | 6 |
| Volume | 1 |
| DOIs | |
| Publication status | Published - 2003 |
| Externally published | Yes |
| Event | The 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA Duration: 2003 Nov 2 → 2003 Nov 6 |
Other
| Other | The 29th Annual Conference of the IEEE Industrial Electronics Society |
|---|---|
| City | Roanoke, VA |
| Period | 03/11/2 → 03/11/6 |
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Keywords
- A vibration
- Disturbance observer
- Robot
- Sampled-data control
ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Vibration Control without Estimated Disturbance Feedback for Robot Manipulators
AU - Kosaka, Yuhki
AU - Shimada, Akira
AU - Viboonchaicheep, Pakpoom
PY - 2003
Y1 - 2003
N2 - 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.
AB - 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.
KW - A vibration
KW - Disturbance observer
KW - Robot
KW - Sampled-data control
UR - http://www.scopus.com/inward/record.url?scp=1442329183&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=1442329183&partnerID=8YFLogxK
U2 - 10.1109/IECON.2003.1280093
DO - 10.1109/IECON.2003.1280093
M3 - Conference contribution
AN - SCOPUS:1442329183
VL - 1
SP - 848
EP - 853
BT - IECON Proceedings (Industrial Electronics Conference)
ER -