Mechanical Admittance Realization Control Based on Feedforward Compensation for Fine Realization of Impedance

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: 2017/03/01

タイトル(英語): Mechanical Admittance Realization Control Based on Feedforward Compensation for Fine Realization of Impedance

著者名: Yusuke Asai (Nagaoka University of Technology), Yuki Yokokura (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology)

著者名(英語): Yusuke Asai (Nagaoka University of Technology), Yuki Yokokura (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology)

キーワード: admittance realization control，motion control，real-world haptics，feedforward compensation

要約(英語): This paper proposes a new admittance realization control system based on feedforward compensation for high-stiffness environments. In conventional admittance realization control systems, the poles of the control system can be designed using any design method. However, zeros are placed on the right side of the dominant pole in the pole placement diagram when the environmental stiffness and viscosity values are large. These zeros placed on the right side of the dominant pole deteriorate the frequency response.In contrast, the proposed admittance realization control system is used to design zeros at the desired frequency. Because the zeros are placed on the left side of the dominant pole, the frequency response of the high-frequency domain is improved. The validity of the proposed method is confirmed by analysis and experiments.

本誌: IEEJ Journal of Industry Applications Vol.6 No.2 （2017） Special Issue on Motion Control and its Related Technologies

本誌掲載ページ: 83-90 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/6/2/6_83/_article/-char/ja/