Name
Title | ||
|---|---|---|
Fine Vibration Suppression Control Based On New Two-Inertia State Observer Feedback Against Three-Inertia Robot Joint |
Abstract | ||
|---|---|---|
Industrial robots are required to perform highspeed and high-precision motion. Industrial robots are controlled using a conventional PI velocity controller with state feedback system for a two-inertia system. In general, the axis is modeled as a two-inertia system. However, a three-inertia system is required for modeling the axis because the industrial robot is required to have more high-performances motion. This paper proposes a vibration-suppression control system for a three-inertia system based on a PI velocity control system with state feedback system using the two-inertia approximation model. The new two-inertia system for the state observer is designed as an approximation model based on the three-inertia system. The effectiveness of the proposed system is confirmed by numerical simulations and experiments. |
Year | Venue | Field |
|---|---|---|
2017 | 2017 IEEE 26TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE) | State observer,Control theory,Control theory,Control engineering,Industrial robot,Control system,Engineering,Inertia,Vibration,Robot,Sliding mode control |
DocType | ISSN | Citations |
Conference | 2163-5137 | 0 |
PageRank | References | Authors |
0.34 | 4 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Akinori Yabuki | 1 | 0 | 1.01 |
| Kiyoshi Ohishi | 2 | 415 | 71.48 |
| Toshimasa Miyazaki | 3 | 7 | 9.95 |
| Yuki Yokokura | 4 | 75 | 18.43 |