Title :
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
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;
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
DOI :
10.1109/IECON.1999.819353
