Abstract
This paper proposes a motion control technique for robot manipulators. And the strongest point of the technique is high performance on vibration suppression. The robot control system proposed is characterized by a function that considers the rotor dynamics including rotor masses and the low rigidity in the mechanical reduction gears. The controller is designed as a sampled-data optimal servo control system with a digital disturbance observer expressed by state space form. Finally, an experimental result on a real two degrees of freedom robot manipulator is shown.
| Original language | English |
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| Pages | 535-540 |
| Number of pages | 6 |
| Publication status | Published - 2004 |
| Externally published | Yes |
| Event | Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan Duration: 2004 Mar 25 → 2004 Mar 28 |
Conference
| Conference | Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 |
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| Country/Territory | Japan |
| City | Kawasaki |
| Period | 04/3/25 → 04/3/28 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Computer Science Applications
- Electrical and Electronic Engineering