Vibration Suppression Control of Elastic-Joint Robot Arm Based on Designless Nonlinear State Observer
Author:
Affiliation:
1. Corporate Manufacturing Engineering Center, Toshiba Corporation
2. Department of Applied Physics and Physico-Informatics Faculty of Science and Technology, Keio University
Publisher
Institute of Electrical Engineers of Japan (IEE Japan)
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering
Link
https://www.jstage.jst.go.jp/article/ieejias/135/5/135_571/_pdf
Reference9 articles.
1. (1) A. De Luca and W. Book: “Robots with flexible elements”, Springer Handbook of Robotics, Chapter 13, pp. 287-319, Springer (2008)
2. (2) J. Oaki and S. Adachi: “Decoupling Identification and Physical Parameter Estimation of Serial Two-link Two-inertia System”, IEEJ Trans. IA, Vol. 128, No. 5, pp. 669-677 (2008-5) (in Japanese)
3. (3) J. Oaki and S. Adachi: “Decoupling Identification for Serial Two-link Two-inertia System—Accuracy Evaluation under Introducing Closed-loop-controlled Elements and Varying Amplitude-setup of Identification-input—”, IEEJ Trans. IA, Vol. 129, No. 12, pp. 1169-1177 (2009-12) (in Japanese)
4. (4) Y. Nishida, T. Nishimura, K. Honke, H. Nakagami, Y. Imaizumi, and N. Kimura: “Robust Control Method for Industrial Robot Manipulators with Flexible Joints—Application of State Observer and Two-Degree-of-Freedom Controller—”, J. RSJ, Vol. 12, No. 3, pp. 466-471 (1994-4) (in Japanese)
5. (5) Y. Kosaka and A. Shimada: “Robot Manipulator Control Considering Motors and Reduction Gears”, T. SICE, Vol. 41, No. 5, pp. 466-472 (2005-5) (in Japanese)
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