Robust 2-DoF Controller Design using H∞ Synthesis for Flexible Robots

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: 2019/07/01

タイトル(英語): Robust 2-DoF Controller Design using H∞ Synthesis for Flexible Robots

著者名: Tran Vu Trung (Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology), Makoto Iwasaki (Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology)

著者名(英語): Tran Vu Trung (Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology), Makoto Iwasaki (Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology)

キーワード: flexible robots，H∞ controller design，acceleration feedback，robust control，vibration suppression

要約(英語): Fast-response with high-precision positioning for industrial robots is an indispensable requirement in a wide range of applications. Nonetheless, resonant vibrations due to flexibilities in mechanical structures generally deteriorate their motion performance. A practical approach to achieve fast and precise positioning is to use a two-degree-of-freedom (2-DoF) control system with feedback and feedforward compensators. Conventionally, a cascade feedback control system is constructed based on P-PI control, where the position and velocity controllers are respectively implemented using a proportion (P) and a proportion-integrator (PI). The paper proposes robust vibration suppression using H∞ control as an alternative design for the feedback compensators in the 2-DoF cascade closed-loop control framework of a flexible robot arm. Acceleration feedback is also applied to improve the control performance. The effectiveness of the proposed design has been verified by conducting experiments using a prototype.

本誌: IEEJ Journal of Industry Applications Vol.8 No.4 （2019） Special Issue Ⅰ on “JIASC 2018”　Special Issue Ⅱ on “IPEC-Niigata 2018”

本誌掲載ページ: 623-631 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/8/4/8_623/_article/-char/ja/