サイクロイド減速機の角度伝達誤差に起因した速度振動の拡張状態オブザーバによる抑制法

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: 2014/03/01

タイトル(英語): Vibration Suppression Control Method using Extended State Observer for Angular Transmission Error in Cycloid Gear

著者名: 河原　翔太（長岡技術科学大学），吉岡　崇（長岡技術科学大学），大石　潔（長岡技術科学大学），Nguyen Hien（長岡技術科学大学），宮崎　敏昌（長岡技術科学大学），横倉　勇希（長岡技術科学大学）

著者名(英語): Shouta Kawahara (Nagaoka University of Technology), Takashi Yoshioka (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Nguyen Hien (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University of Technology), Yuki Yokokura (Nagaoka University of Technology)

キーワード: 角度伝達誤差，産業用ロボット，状態オブザーバ，振動抑制制御　　angular transmission error，industrial robot，state observer，vibration suppression control

要約(英語): This paper proposes a method for suppressing the speed vibration caused by the angular transmission error in cycloid gears used in industrial robots. It is important for industrial robots to have high accuracy. However, cycloid gears with an angular transmission error may cause vibration in the arms of a robot. The proposed method for compensating for the speed vibration uses a new extended state observer that is based on a model that considers a cycloid gear with an angular transmission error. A compensation current is generated by using the torque vibration which is converted from the estimated speed vibration. The speed vibration is suppressed using this compensation current. The experimental results show that the proposed system suppresses the vibration at the load speed.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.134 No.3 （2014） 特集：産業計測自動制御，メカトロニクス制御

本誌掲載ページ: 241-251 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/134/3/134_241/_article/-char/ja/