TY - GEN
T1 - Motion control strategy of industrial robot for vibration suppression and little positioning phase error
AU - Kataoka, Hisashi
AU - Ohishi, Kiyoshi
AU - Miyazaki, Toshimasa
AU - Katsura, Seiichiro
AU - Takuma, Hisashi
PY - 2008
Y1 - 2008
N2 - This paper proposes a new motion control strategy for industrial robots. It is important for industrial robots to drive high speed and high accuracy. However, the vibration is generated by the resonant phenomenon and the interference from other axes in such cases. In the proposed strategy, those two problems are overcome. For the resonant vibration, the new reference filtering method is used. It is consisted of the notch filter and the phase compensation gain. Using the notch filter, the resonant phenomenon is suppressed. Using the phase compensation gain, the reference phase error by the notch filter is improved. For the interference from other axes, the dynamic torque compensation is used. The disturbance torque from other axes is computed by the inverse-dynamic torque computation. The simulation results and the experimental results show that the proposed strategy is superior to suppress the vibration and improves the phase error.
AB - This paper proposes a new motion control strategy for industrial robots. It is important for industrial robots to drive high speed and high accuracy. However, the vibration is generated by the resonant phenomenon and the interference from other axes in such cases. In the proposed strategy, those two problems are overcome. For the resonant vibration, the new reference filtering method is used. It is consisted of the notch filter and the phase compensation gain. Using the notch filter, the resonant phenomenon is suppressed. Using the phase compensation gain, the reference phase error by the notch filter is improved. For the interference from other axes, the dynamic torque compensation is used. The disturbance torque from other axes is computed by the inverse-dynamic torque computation. The simulation results and the experimental results show that the proposed strategy is superior to suppress the vibration and improves the phase error.
UR - http://www.scopus.com/inward/record.url?scp=77951058736&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2008.4516145
DO - 10.1109/AMC.2008.4516145
M3 - Conference contribution
AN - SCOPUS:77951058736
SN - 9781424417032
T3 - International Workshop on Advanced Motion Control, AMC
SP - 661
EP - 666
BT - AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
T2 - 10th International Workshop on Advanced Motion Control, AMC'08
Y2 - 26 March 2008 through 28 March 2008
ER -