TY - GEN
T1 - A motion control of flexible joint based on velocity estimation
AU - Kaneko, Kenji
AU - Kondo, Shin'ichi
AU - Ohnishi, Kouhei
PY - 1990/12/1
Y1 - 1990/12/1
N2 - The authors propose a novel control method based on two observers to suppress the vibration of a flexible joint, even under fast motion. One observer is a disturbance observer and is used for the realization of an acceleration controller of the motor axis. The other observer estimates the link velocity and is effective for the suppression of torsional vibration. The disturbance observer estimates the total sum of the disturbance torques which are imposed on the motor axis. Feedback compensation by this estimated disturbance torque increases the servo stiffness and the robustness of the motor portion. The feedback of the estimated link velocity totally suppresses the torsional vibration of the flexible joint even under fast motion. The proposed control was implemented in a 16-b microprocessor with a digital signal processor for a laboratory test.
AB - The authors propose a novel control method based on two observers to suppress the vibration of a flexible joint, even under fast motion. One observer is a disturbance observer and is used for the realization of an acceleration controller of the motor axis. The other observer estimates the link velocity and is effective for the suppression of torsional vibration. The disturbance observer estimates the total sum of the disturbance torques which are imposed on the motor axis. Feedback compensation by this estimated disturbance torque increases the servo stiffness and the robustness of the motor portion. The feedback of the estimated link velocity totally suppresses the torsional vibration of the flexible joint even under fast motion. The proposed control was implemented in a 16-b microprocessor with a digital signal processor for a laboratory test.
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M3 - Conference contribution
AN - SCOPUS:0025576882
SN - 0879426004
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 279
EP - 284
BT - Signal Processing and System Control Factory Automation
PB - Publ by IEEE
T2 - 16th Annual Conference of IEEE Industrial Electronics Society - IECON'90
Y2 - 27 November 1990 through 30 November 1990
ER -