High-performance Load Torque Compensation of Industrial Robot using Kalman-filter-based Instantaneous State Observer

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: 2015/09/01

タイトル(英語): High-performance Load Torque Compensation of Industrial Robot using Kalman-filter-based Instantaneous State Observer

著者名: Takashi Yoshioka (Nagaoka University of Technology), Thao Tran Phuong (Nagaoka University of Technology), Akinori Yabuki (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University of Techn

著者名(英語): Takashi Yoshioka (Nagaoka University of Technology), Thao Tran Phuong (Nagaoka University of Technology), Akinori Yabuki (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，two-inertia system，load torque estimation，acceleration sensor

要約(英語): Robust motion control against dynamic torque is required for rapid and precise motion control of industrial robots. In this regard, a disturbance observer (DOB) is widely used to achieve robust motion control. In general, it is difficult to achieve robust motion control against a step load torque because the DOB exhibits an estimation delay. To overcome this problem, this paper proposes a new method involving the use of a Kalman-filter-based instantaneous state observer for load torque compensation. The proposed method achieves the instantaneous load torque estimation of a two-inertia system using a load-side acceleration sensor. Torque compensation based on instantaneous torque estimation is highly robust against the insertion of a step load torque. The effectiveness of the proposed method is confirmed by performing both a numerical simulation and experiments using an industrial robot arm.

本誌: IEEJ Journal of Industry Applications Vol.4 No.5 （2015）

本誌掲載ページ: 589-590 p

原稿種別: 研究開発レター／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/4/5/4_589/_article/-char/ja/