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

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2014/05/01

タイトル(英語): Vibration Suppression Control based on Final State Control Considering Convergence Time and Inertia Variation for Industrial Robot

著者名: Takashi Yoshioka (Nagaoka University of Technology), Naoki Shimada (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University of Technology), Yuki Yokokura (Nagaoka University of Technolog

著者名(英語): Takashi Yoshioka （Nagaoka University of Technology）, Naoki Shimada （Nagaoka University of Technology）, Kiyoshi Ohishi （Nagaoka University of Technology）, Toshimasa Miyazaki （Nagaoka University of Technology）, Yuki Yokokura （Nagaoka University of Technology）

キーワード: industrial robot，motion control，profile design，vibration suppression，inertia variation

要約(英語): Industrial robots require high-speed and high-precision motion for improvements in productivity and product quality. However, high-speed motion excites residual vibration because the joint axis of the industrial robot has axial torsion. In addition, the inertia moment of the industrial robot is changed by the end-effector tool. Therefore, robust vibration suppression control is required. However, achieving both robust vibration suppression control and high-speed motion control is difficult. This paper proposes a new final state control method that considers the convergence time and inertia variation for an industrial robot. The proposed method applies final state control to the entire motion control system of each joint. To achieve the desired convergence time for the end-effector, the final state control profile is redesigned by using a proposed flowchart. The effectiveness of the proposed method is confirmed by a numerical simulation and an experiment using a 3-degree-of-freedom robot manipulator.

本誌: IEEJ Journal of Industry Applications Vol.3 No.3 （2014）

本誌掲載ページ: 236-247 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/3/3/3_236/_article/-char/ja/