Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator

Junji Oaki; Shuichi Adachi

doi:10.1109/CCA.2015.7320642

Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator

Junji Oaki
, Shuichi Adachi

Department of Applied Physics and Physico-Informatics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

This paper provides a practical solution for precise and fast control of an elastic-joint robot arm using motor-side sensors only. We previously proposed a torsion-angular velocity feedback (TVFB) scheme for vibration-suppression control. The scheme utilizes an uncomplicated nonlinear observer based on a physically-parameterized dynamic model of the elastic-joint robot arm. The TVFB can be easily plugged into existing joint servos like PI velocity controllers. Using the elastic-joint robot arm, this paper experimentally demonstrates that the TVFB is equivalent to a nonlinear-model-based phase-lead compensator. Furthermore, several experiments are conducted to validate that the TVFB scheme has the capability to satisfy both vibration-suppression and fast-positioning control.

Original language	English
Title of host publication	2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	281-287
Number of pages	7
ISBN (Electronic)	9781479977871
DOIs	https://doi.org/10.1109/CCA.2015.7320642
Publication status	Published - 2015 Nov 4
Event	IEEE Conference on Control and Applications, CCA 2015 - Sydney, Australia Duration: 2015 Sept 21 → 2015 Sept 23

Publication series

Name	2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings

Other

Other	IEEE Conference on Control and Applications, CCA 2015
Country/Territory	Australia
City	Sydney
Period	15/9/21 → 15/9/23

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/CCA.2015.7320642

Cite this

Oaki, J., & Adachi, S. (2015). Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator. In 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings (pp. 281-287). Article 7320642 (2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2015.7320642

Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator. / Oaki, Junji; Adachi, Shuichi.
2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. p. 281-287 7320642 (2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Oaki, J & Adachi, S 2015, Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator. in 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings., 7320642, 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 281-287, IEEE Conference on Control and Applications, CCA 2015, Sydney, Australia, 15/9/21. https://doi.org/10.1109/CCA.2015.7320642

Oaki J, Adachi S. Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator. In 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2015. p. 281-287. 7320642. (2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings). doi: 10.1109/CCA.2015.7320642

Oaki, Junji ; Adachi, Shuichi. / Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator. 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 281-287 (2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings).

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abstract = "This paper provides a practical solution for precise and fast control of an elastic-joint robot arm using motor-side sensors only. We previously proposed a torsion-angular velocity feedback (TVFB) scheme for vibration-suppression control. The scheme utilizes an uncomplicated nonlinear observer based on a physically-parameterized dynamic model of the elastic-joint robot arm. The TVFB can be easily plugged into existing joint servos like PI velocity controllers. Using the elastic-joint robot arm, this paper experimentally demonstrates that the TVFB is equivalent to a nonlinear-model-based phase-lead compensator. Furthermore, several experiments are conducted to validate that the TVFB scheme has the capability to satisfy both vibration-suppression and fast-positioning control.",

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AB - This paper provides a practical solution for precise and fast control of an elastic-joint robot arm using motor-side sensors only. We previously proposed a torsion-angular velocity feedback (TVFB) scheme for vibration-suppression control. The scheme utilizes an uncomplicated nonlinear observer based on a physically-parameterized dynamic model of the elastic-joint robot arm. The TVFB can be easily plugged into existing joint servos like PI velocity controllers. Using the elastic-joint robot arm, this paper experimentally demonstrates that the TVFB is equivalent to a nonlinear-model-based phase-lead compensator. Furthermore, several experiments are conducted to validate that the TVFB scheme has the capability to satisfy both vibration-suppression and fast-positioning control.

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Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator

Abstract

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