Robust speed control suppressing vibration caused by angular transmission error of planetary gear

Author

Miyazaki, Toshimasa ; Ohishi, Kiyoshi

Author_Institution

Dept. of Electr. Eng., Nagaoka Nat. Coll. of Technol., Japan

Volume

3

fYear

1999

fDate

1999

Firstpage

1051

Abstract

This paper proposes a new robust speed control suppressing vibration caused by angular transmission error of planetary gear. For this purpose, first, this paper constructs a new numerical simulation model of angular transmission error of planetary gear, which is confirmed by the experimental data of the tested robot arm. Next, the proposed robust speed control system is designed by the two-degrees-of-freedom control system based on disturbance observer and coprime factorization. The numerical simulation results show that the proposed system regulates the motor velocity and suppresses the vibration

Keywords

angular velocity control; industrial robots; machine control; robust control; servomotors; vibration control; angular transmission error; coprime factorization; disturbance observer; industrial robot; motor velocity regulation; numerical simulation model; planetary gear; robot arm; robust speed control; servomotor; two-degrees-of-freedom control system; vibration suppression; Control systems; Error correction; Gears; Numerical models; Numerical simulation; Robots; Robust control; Testing; Velocity control; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 1999. IECON '99 Proceedings. The 25th Annual Conference of the IEEE

Conference_Location

San Jose, CA

Print_ISBN

0-7803-5735-3

Type

conf

DOI

10.1109/IECON.1999.819353

Filename

819353