Vibration Suppression Control based on Final State Control Considering Convergence Time and Inertia Variation for Industrial Robot

YOSHIOKA Takashi; SHIMADA Naoki; OHISHI Kiyoshi; MIYAZAKI Toshimasa; YOKOKURA Yuki

Art

J-GLOBAL ID：201402251124152210 Reference number：14A0951078

Vibration Suppression Control based on Final State Control Considering Convergence Time and Inertia Variation for Industrial Robot

収束時間および慣性変動を考慮した最終状態制御に基づく産業用ロボットのための振動の抑圧制御

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Material：
Volume： 3 Issue： 3 Page： 236-247 Publication year： May. 01, 2014
JST Material Number： F1055A ISSN： 2187-1094 Document type： Article
Article type：原著論文 Country of issue： Japan (JPN) Language： ENGLISH (EN)

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Motion and control of robots

Reference (16)：

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(3) Y. Hori, H. Iseki, and K. Sugiura: “Basic Consideration of Vibration Suppression and Disturbance Rejection Control of Multi-inertia System using SFLAC (State Feedback and Load Acceleration Control)”, IEEE Trans. IA, Vol. 30, pp. 889-896 (1994)
(4) Y. Hori: “Control of Torsional System using Disturbance Observer”, Journal of RSJ, Vol. 13, No. 8, pp. 1096-1102 (1995) (in Japanese)
(5) L. Van den Broeck, G. Pipeleers, J. De Caigny, B. Demeulenaere, J. Swevers, and J. De Schutter: “A Linear Programming Approach To Design Robust Input Shaping”, Proceedings of AMC 2008, pp. 80-85 (2008)

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