High Accuracy Positioning in SCARA-Type Robot by Sensor-based Decoupling Control-Reference-Cited by-同舟云学术

High Accuracy Positioning in SCARA-Type Robot by Sensor-based Decoupling Control

Published:1999-06-01 Issue:1 Volume:122 Page:166-173
ISSN:1087-1357
Container-title:Journal of Manufacturing Science and Engineering
language:en
Short-container-title:

Author:

Shiraishi M.¹,Sugano S.¹,Aoshima S.¹

Affiliation:

1. Faculty of Engineering, Ibaraki University, 4-12-1 Nakanarusawa, Hitachi, 316 Japan

Abstract

To compensate for the effects of coupling torque and load variations experienced in SCARA-type robots, we propose a new method of sensor-based decoupling control. In this method the plant is first nominalized with the use of a disturbance observer and then nonlinear feedback control is accomplished by this nominalized system based on information from acceleration sensors installed at the end of the robot hand. As a result of high-speed reciprocal motion with a payload of 10 kg mounted on the hand, we were able to achieve satisfactory decoupling using this method. Improvements were also made in steady-state characteristics. [S1087-1357(00)01201-6]

Publisher

ASME International

Subject

Industrial and Manufacturing Engineering,Computer Science Applications,Mechanical Engineering,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/manufacturingscience/article-pdf/122/1/166/5811236/166_1.pdf

Reference6 articles.

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