| |
RECURSIVE CONTROL OF ROBOT MANIPULATOR WITH ELASTICITY
| [View]
[Download]
|
| Author(s) |
H. Yan; T. Murakami; K. Yuki; K. Ohnishi |
| Abstract |
This paper presents an advanced method for suppressing torsional vibration of a flexible joint which connects a motor shaft and a driven arm. In the proposed method, at first, the position controller is designed on the basis of a model of rigid arm by recursive control law. After that, a compensation element is added to increase the stability of the total system, where only motor velocity is used for the purpose. The proposed method realizes a robust control and because of its model-free structure it is easy to implement the proposed algorithm. Experimental results are also presented to show its effectiveness. |
| Download |
| Filename: | Unnamed file |
| Filesize: | 2.708 MB |
|
| Type |
Members Only |
| Date |
Last modified 2019-06-03 by System |
| |
 |