Art

J-GLOBAL ID：200902274281993229   Reference number：07A0023546

Force Sensor-less Workspace Virtual Impedance Control Considering Resonant Vibration for Industrial Robot

産業用ロボットの共振振動を考慮した力センサ無作業空間仮想インピーダンス制御

Author (4)： TUNGPATARATANAWONG Somsawas (Nagaoka Univ. Technol., Niigata) ,  OHISHI Kiyoshi (Nagaoka Univ. Technol., Niigata) ,  MIYAZAKI Toshimasa (Nagaoka National Coll. of Technol., Niigata) ,  KATSURA Seiichiro (Nagaoka Univ. Technol., Niigata)
Material： 電気学会論文誌 D  (IEEJ Transactions on Industry Applications)
Volume： 127  Issue： 1  Page： 1-8  Publication year： Jan. 01, 2007 
JST Material Number： X0451A  ISSN： 0913-6339  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： feedforward ,...
Semi thesaurus term： 2慣性モデル ,...

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JST classification (1)： Design,manufacturing,and components of robots  (IC04013A)

Reference (18)：

• LUH, J. Y. S. Conventional Controller Design for Industrial Robots-A Tutorial. IEEE Trans. Syst., Man, and Cybern. 1983, SMC-13, 298-316
• TOMEI, P. A Simple PD Controller for Robots With Elastic Joints. IEEE Trans. Automat. Contr. 1991, 36, 10, 1208-1213
• TUNGPATARATANAWONG, S. Robust motion control of industrial robot manipulator based on feedforward torque compensation and D-PD control. Proc. 6th Japan-France and 4th Asia-Europe Congress on Mechatronics, Japan (2003-9). 2003, 432-437
• TUNGPATARATANAWONG, S. High performance robust motion control of industrial robot using parameter identification based on resonant frequency. Proc. 30th Annual Conference of the IEEE Industrial Electronics Society, IECON'04, Korea (2004-11). 2004, 1-6
• TUNGPATARATANAWONG, S. Robust Motion Control of Industrial Robot Based on Robot Parameter Identification and Feedforward Control Considering Resonant Frequency. T. IEE Japan, D. 2005, 125, 6, 568-574

Terms in the title (6)： 産業用ロボット ,  共振振動 ,  力センサ ,  作業空間 ,  仮想 ,  インピーダンス制御