DocumentCode :
1942555
Title :
Reaction torque feedback based vibration control in multi-degrees of freedom motion system
Author :
Kino, Masaru ; Goden, Tatsuhito ; Murakami, Toshiyuki ; Ohnishi, Kouhei
Author_Institution :
Dept. of Electr. Eng., Keio Univ., Yokohama, Japan
Volume :
3
fYear :
1998
fDate :
31 Aug-4 Sep 1998
Firstpage :
1807
Abstract :
This paper presents a position control method in a multi-degrees of freedom flexible manipulator. For the control of the flexible manipulator, it is easy to construct the controller in each joint. In practical application, however, the workspace is preferred to the joint space for position control of the multi-degrees of freedom manipulator. This paper shows a novel control strategy of the flexible manipulator in the workspace. First, to suppress the vibration of the arm, the proposed approach introduces the feedback of reaction torque. Second, the controller includes a displacement feedback caused by the elastic deformation of the arm to increase the response speed. The combination of the reaction torque feedback in the joint space and the displacement feedback brings the stable and robust position control in a multi-degrees of freedom flexible manipulator. The effectiveness of the proposed method is confirmed by several experiments
Keywords :
feedback; flexible manipulators; manipulator kinematics; position control; robust control; torque control; vibration control; arm elastic deformation; arm vibration suppression; displacement feedback; flexible manipulator; joint space; multi-degrees of freedom motion system; position control; position control method; reaction torque feedback; response speed increase; robust position control; stable position control; vibration control; workspace; Displacement control; Feedback; Manipulators; Motion control; Position control; Resonance; Service robots; Space technology; Torque; Vibration control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics Society, 1998. IECON '98. Proceedings of the 24th Annual Conference of the IEEE
Conference_Location :
Aachen
Print_ISBN :
0-7803-4503-7
Type :
conf
DOI :
10.1109/IECON.1998.722965
Filename :
722965
Link To Document :
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