物理パラメータ推定に基づくシリアル2リンク2慣性系の振動抑制制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2013/01/01

タイトル(英語): Vibration Suppression Control of a Serial Two-Link Two-Inertia System Based on Physical-Parameter Estimation

著者名: 大明　準治（（株）東芝 研究開発センター），足立　修一（慶應義塾大学 理工学部 物理情報工学科）

著者名(英語): Junji Oaki (Corporate R & D Center, Toshiba Corporation), Shuichi Adachi (Department of Applied Physics and Physico-Informatics,Faculty of Science and Technology, Keio University)

キーワード: 多入力多出力システム同定，2慣性系，非線形オブザーバ，軸ねじれ速度フィードバック，2自由度PI制御系，ゲインスケジューリング制御　　multi-input multi-output system identification，two-inertia system，nonlinear observer，torsional angular velocity feedback，two-degree-of-freedom PI controller，gain-scheduling control

要約(英語): The purpose of our study is to achieve the dynamic model-based control of a nonlinear robot arm, while taking joint-elasticity into consideration. We previously proposed a multi-input multi-output system identification method, called the decoupling identification method, for a planar two-link robot arm with elastic-joints due to the Harmonic-drive reduction gears. The robot arm is treated herein as a serial two-link two-inertia system with nonlinearity. Physical parameters such as motor inertias, link inertias, joint-friction coefficients, and joint-spring coefficients of the robot dynamic model are accurately estimated by the decoupling identification method. This paper describes a simple method for achieving the vibration suppression control of a serial two-link two-inertia system based on physical-parameter estimation. We propose a torsional angular velocity feedback scheme, which can be “plugged-in” to an existing PI velocity controller, using a nonlinear state observer based on the accurately estimated dynamic model. In addition, we propose a gain-scheduling control scheme that involves switching inertia parameters to compensate for payload variation. Through several experiments, we demonstrate the effectiveness of the proposed control method by using the elastic-joint robot arm.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.133 No.1 （2013）

本誌掲載ページ: 94-104 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/133/1/133_94/_article/-char/ja/