Multirate feedforward control of robot manipulators

Akira Shimada, Tsuyoshi Takeda

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
ページ4083-4088
ページ数6
DOI
出版ステータスPublished - 2007
外部発表はい
イベント2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
継続期間: 2007 10 292007 11 2

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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