Name
Abstract | ||
|---|---|---|
This paper proposes a new acceleration control method for industrial robots. To achieve high-speed and high-precision path tracking control, the motion control system must be able to control the arm acceleration. However, it is difficult to directly control the arm acceleration, because the speed reduction mechanism of industrial robots has axial torsion. To solve this problem, this paper proposes a new acceleration control method based on an inverse system. The proposed method designs an inverse transfer function system from the current command for arm acceleration. Acceleration control is achieved by the feed-forward control input designed from the inverse system. In addition, a robust feedback control system is designed to compensate for the dynamic disturbance torque and parameter variation. The effectiveness of the proposed method is confirmed by experimental results using a 2-DOF robot manipulator. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IECON.2012.6389282 | Montreal, QC |
Keywords | Field | DocType |
acceleration control,feedback,feedforward,industrial robots,manipulators,motion control,robust control,torsion,transfer functions,axial torsion,dynamic disturbance torque,feedforward control,industrial robot arm acceleration,inverse transfer function system,load side acceleration control,parameter variation,path tracking control,robot manipulator,robust feedback control system,speed reduction mechanism | Motion control,Torque,Simulation,Control theory,Control engineering,Industrial robot,Acceleration,Engineering,Control system,Robust control,Inverse system,Feed forward | Conference |
ISSN | ISBN | Citations |
1553-572X E-ISBN : 978-1-4673-2420-5 | 978-1-4673-2420-5 | 1 |
PageRank | References | Authors |
0.40 | 1 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yoshioka, T. | 1 | 1 | 0.40 |
| Shimada, N. | 2 | 1 | 0.40 |
| K. Ohishi | 3 | 68 | 8.09 |
| Miyazaki, T. | 4 | 1 | 0.40 |