Stick-slip suppression in geared motor by speed-dependent switching of high-order Motor-side Normalization Compensator components

カテゴリ: 研究会(論文単位)

論文No: MEC18009

グループ名: 【D】産業応用部門 メカトロニクス制御研究会

発行日: 2018/09/26

タイトル(英語): Stick-slip suppression in geared motor by speed-dependent switching of high-order Motor-side Normalization Compensator components

著者名: Padron Juan(Nagaoka University of Technology),Ohishi Kiyoshi(Nagaoka University of Technology),Yokokura Yuki(Nagaoka University of Technology)

著者名(英語): Juan Padron(Nagaoka University of Technology),Kiyoshi Ohishi(Nagaoka University of Technology),Yuki Yokokura(Nagaoka University of Technology)

キーワード: Robot Control|Industrial Robots|Motor-side Normalization Compensator (MNC),|High order MNC|Stick-slip phenomenon

要約(日本語): This paper proposes a stick-slip suppression scheme for geared motors with oil seal by using a speed-dependent switching of the estimated disturbance components of a high-order Motor Normalization Compensator (MNC). Switching the high-order MNC components allows for fast static friction compensation around low speeds while preventing excessive high-frequency noise amplification.

要約(英語): This paper proposes a stick-slip suppression scheme for geared motors with oil seal by using a speed-dependent switching of the estimated disturbance components of a high-order Motor Normalization Compensator (MNC). Switching the high-order MNC components allows for fast static friction compensation around low speeds while preventing excessive high-frequency noise amplification.

原稿種別: 英語

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