Vibration suppression and disturbance rejection control of a flexible link arm

Manabu Matsuoka; Toshiyuki Murakami; Kouhei Ohnishi

Vibration suppression and disturbance rejection control of a flexible link arm

Manabu Matsuoka, Toshiyuki Murakami, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

45 Citations (Scopus)

Abstract

This paper presents a position control method to suppress vibration and the arm disturbance torque of flexible link arm. The feedback of the reaction torque is effective for the suppression of the arm vibration. In such method, however, the robustness against the arm disturbance decreases since its effect directly imposes on the motor side through the reaction torque feedback. In this paper, we propose the method to reject arm disturbance under the reaction torque feedback. Here, two strategies to estimate the arm disturbance are proposed. Then the estimated arm disturbance is feedback through the inverse system of the motor side. The validity of the proposed method is confirmed by several numerical results.

Original language	English
Pages	1260-1265
Number of pages	6
Publication status	Published - 1995 Dec 1
Event	Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2) - Orlando, FL, USA Duration: 1995 Nov 6 → 1995 Nov 10

Other

Other	Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2)
City	Orlando, FL, USA
Period	95/11/6 → 95/11/10

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Cite this

Vibration suppression and disturbance rejection control of a flexible link arm. / Matsuoka, Manabu; Murakami, Toshiyuki; Ohnishi, Kouhei.
1995. 1260-1265 Paper presented at Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2), Orlando, FL, USA.

Research output: Contribution to conference › Paper › peer-review

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abstract = "This paper presents a position control method to suppress vibration and the arm disturbance torque of flexible link arm. The feedback of the reaction torque is effective for the suppression of the arm vibration. In such method, however, the robustness against the arm disturbance decreases since its effect directly imposes on the motor side through the reaction torque feedback. In this paper, we propose the method to reject arm disturbance under the reaction torque feedback. Here, two strategies to estimate the arm disturbance are proposed. Then the estimated arm disturbance is feedback through the inverse system of the motor side. The validity of the proposed method is confirmed by several numerical results.",

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AU - Matsuoka, Manabu

AU - Murakami, Toshiyuki

AU - Ohnishi, Kouhei

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Y1 - 1995/12/1

N2 - This paper presents a position control method to suppress vibration and the arm disturbance torque of flexible link arm. The feedback of the reaction torque is effective for the suppression of the arm vibration. In such method, however, the robustness against the arm disturbance decreases since its effect directly imposes on the motor side through the reaction torque feedback. In this paper, we propose the method to reject arm disturbance under the reaction torque feedback. Here, two strategies to estimate the arm disturbance are proposed. Then the estimated arm disturbance is feedback through the inverse system of the motor side. The validity of the proposed method is confirmed by several numerical results.

AB - This paper presents a position control method to suppress vibration and the arm disturbance torque of flexible link arm. The feedback of the reaction torque is effective for the suppression of the arm vibration. In such method, however, the robustness against the arm disturbance decreases since its effect directly imposes on the motor side through the reaction torque feedback. In this paper, we propose the method to reject arm disturbance under the reaction torque feedback. Here, two strategies to estimate the arm disturbance are proposed. Then the estimated arm disturbance is feedback through the inverse system of the motor side. The validity of the proposed method is confirmed by several numerical results.

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T2 - Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2)

Y2 - 6 November 1995 through 10 November 1995

ER -

Vibration suppression and disturbance rejection control of a flexible link arm

Abstract

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ASJC Scopus subject areas

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