TY - GEN
T1 - Motion control of industrial robot using new notch filtering system for vibration suppression and little phase error
AU - Kataoka, Hisashi
AU - Tungpataratanawong, Somsawas
AU - Ohishi, Kiyoshi
AU - Katsura, Seiichiro
AU - Miyazaki, Toshimasa
PY - 2007
Y1 - 2007
N2 - This paper proposes a new generation method of position reference without the resonant frequency and phase error for industrial robots. It is important for industrial robots to drive high speed and high accuracy. However, the vibration phenomenon is generated by the resonant frequency in such cases. Conventionally, the notch filter is used to suppress the vibration phenomenon. It is able to eliminate a particular frequency. However, it also has a disadvantage that the reference phase error is generated. Generating the phase error in the reference causes the critical error in the locus which the robot draws. Therefore, the accuracy of the robot is deteriorated by using the notch filter. The proposed method overcomes this problem by using the compensation gain. The compensation gain is used to calculate the reference phase error. The compensation of the reference phase error is performed by the feedforward. The numerical and the experimental results show that the proposed method is superior to suppress the resonant frequency and improves the phase error.
AB - This paper proposes a new generation method of position reference without the resonant frequency and phase error for industrial robots. It is important for industrial robots to drive high speed and high accuracy. However, the vibration phenomenon is generated by the resonant frequency in such cases. Conventionally, the notch filter is used to suppress the vibration phenomenon. It is able to eliminate a particular frequency. However, it also has a disadvantage that the reference phase error is generated. Generating the phase error in the reference causes the critical error in the locus which the robot draws. Therefore, the accuracy of the robot is deteriorated by using the notch filter. The proposed method overcomes this problem by using the compensation gain. The compensation gain is used to calculate the reference phase error. The compensation of the reference phase error is performed by the feedforward. The numerical and the experimental results show that the proposed method is superior to suppress the resonant frequency and improves the phase error.
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U2 - 10.1109/ICMECH.2007.4280047
DO - 10.1109/ICMECH.2007.4280047
M3 - Conference contribution
AN - SCOPUS:50649093327
SN - 142441184X
SN - 9781424411849
T3 - Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
BT - Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
T2 - 4th IEEE International Conference on Mechatronics, ICM 2007
Y2 - 8 May 2007 through 10 May 2007
ER -