Quick Reaction Force Control for Three-Inertia Resonant System

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: 2019/11/01

タイトル(英語): Quick Reaction Force Control for Three-Inertia Resonant System

著者名: Akinori Yabuki (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University of Technology), Yuki Yokokura (Nagaoka University of Technology)

著者名(英語): 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，three-inertia system，reaction force control

要約(英語): This paper proposes a new three-inertia model that considers new transmission factors to achieve quick reaction force control. New transmission factors are confirmed by the analysis results of load-side dynamic characteristics. The load-side dynamic characteristics are measured via input impact torque using a hammer and motor-side velocity response. The experimental results of the input impact torque using a hammer confirm a new anti-resonance frequency with regard to the load-side dynamic characteristics. Therefore, new transmission factors are obtained based on the new anti-resonance frequency. However, the conventional three-inertia model has no new anti-resonance frequency. The consistency of the proposed three-inertia model that considers new transmission factors against plant system is confirmed by using a state observer based on the proposed three-inertia model. Additionally, the effectiveness of the force control system based on the proposed three-inertia model is confirmed by numerical simulations and experiments.

本誌: IEEJ Journal of Industry Applications Vol.8 No.6 （2019）

本誌掲載ページ: 941-952 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/8/6/8_941/_article/-char/ja/