Title :
Improving the dynamic motion behavior of a servo system with low mechanical stiffness
Author :
Gannel, Leonid ; Welch, Richard H., Jr.
Author_Institution :
Control & Robotic Solutions, USA
Abstract :
This paper, presents an advanced approach for vibration damping in a servo system with low mechanical stiffness. Named "electronic mismatch adjustment", this approach uses acceleration feedback from the system\´s mass having the lowest moment of inertia. The key principles underlying acceleration feedback are presented. Operation of a robot arm using electronic mismatch adjustment is described.
Keywords :
acceleration control; acceleration measurement; damping; feedback; robot dynamics; servomechanisms; vibration control; acceleration feedback; dynamic motion behavior; electronic mismatch adjustment; low mechanical stiffness; robot arm; servo system; vibration damping; Acceleration; Bandwidth; Brushless DC motors; DC motors; Damping; Feedback; Servomechanisms; Servomotors; State-space methods; Vibrations;
Conference_Titel :
Industry Applications Conference, 2003. 38th IAS Annual Meeting. Conference Record of the
Print_ISBN :
0-7803-7883-0
DOI :
10.1109/IAS.2003.1257480
