Vibration control without estimated disturbance feedback for robot manipulators

Y. Kosaka, A. Shimada, P. Viboonchaicheep
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引用次数: 2

Abstract

This paper presents the vibration suppression control technique for the robot manipulators. To make the technique fit for practice, the presented robot controller is characterized by the function that considers the low-stiffness kept in the mechanical reduction gears in the robot joints. And it is designed as the sampled-data servo controller using the state space form digital disturbance observer. The reason not to utilize the transfer function form disturbance observer but the state space form one is to make the best use of the feature that the latter one can estimates not only disturbance but also the other state variables under the disturbance. And we suppose that the presented control method including above observer is essentially useful for such low-stiffness plants.
无预估扰动反馈的机械臂振动控制
介绍了机械臂的振动抑制控制技术。为了使该方法适合实际应用,所设计的机器人控制器具有考虑关节内机械减速齿轮保持的低刚度的功能。并利用状态空间形式的数字扰动观测器将其设计为采样数据伺服控制器。之所以不采用传递函数形式的扰动观测器,而采用状态空间形式的扰动观测器,是为了充分利用后者不仅可以估计扰动,而且可以估计扰动下的其他状态变量的特性。我们认为包含上述观测器的控制方法对这种低刚度对象是有效的。
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