Double-Disturbance Compensation Design for Full-Closed Cascade Control of Flexible Robots

T. Trung, M. Iwasaki
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引用次数: 2

Abstract

This paper proposes a new control scheme with double-disturbance model-based compensation for interference force between joints of flexible robots. Following the inception of the double-disturbance model for full-closed cascade control system, a compensation strategy is then investigated, together with its two applications to suppress vibrations due to the interference force. The effectiveness of the proposed designs is verified by numerical simulations and experiments with a prototype of two-joint flexible robot.
柔性机器人全闭串级控制的双扰动补偿设计
提出了一种基于双扰动模型的柔性机器人关节间干涉力补偿控制方案。在建立全封闭串级控制系统的双扰动模型之后,研究了一种补偿策略,以及它的两种应用来抑制由于干涉力引起的振动。通过两关节柔性机器人样机的数值仿真和实验验证了所提设计的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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