TY - GEN
T1 - Vibration control of flexible joint based on link velocity estimation
AU - Kondo, Shin'ichi
AU - Kaneko, Kenji
AU - Ohnishi, Kouhei
PY - 1991/12/1
Y1 - 1991/12/1
N2 - The authors present a novel control method to suppress the torsional vibration of a flexible joint which connects the motor shaft and the driven link. To obtain the stability against the torsional vibration, it is necessary to insert an artificial damper element to some extent in the control law. Estimated link velocity is fed back for damping. This link velocity is estimated by an observer without using any sensor for the link portion. For the purpose of the estimation, an acceleration controller which is realized by a disturbance observer, is applied. The experimental results are shown to verify the proposed method.
AB - The authors present a novel control method to suppress the torsional vibration of a flexible joint which connects the motor shaft and the driven link. To obtain the stability against the torsional vibration, it is necessary to insert an artificial damper element to some extent in the control law. Estimated link velocity is fed back for damping. This link velocity is estimated by an observer without using any sensor for the link portion. For the purpose of the estimation, an acceleration controller which is realized by a disturbance observer, is applied. The experimental results are shown to verify the proposed method.
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M3 - Conference contribution
AN - SCOPUS:0026279785
SN - 0879426888
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 449
EP - 454
BT - IECON Proceedings (Industrial Electronics Conference)
PB - Publ by IEEE
T2 - Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91
Y2 - 28 October 1991 through 1 November 1991
ER -