Equivalent Resonance Ratio Control in Two-Spring System for Stable Contact Motion in Industrial 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: 2020/01/01

タイトル(英語): Equivalent Resonance Ratio Control in Two-Spring System for Stable Contact Motion in Industrial Robots

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

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

キーワード: resonance ratio control，vibration suppression，two-spring system，force impulse，stable contact motion

要約(英語): It is important to consider the environment for realizing stable contact motion, such as direct teaching for polishing motion including contact with environment. To realize stable contact motion without bouncing, the velocity and acceleration should be brought to zero after contact with the environment. This study focuses on the torque-velocity duality and a two-spring system is constructed using motor-side velocity control for a two-inertia system with environmental considerations. An equivalent resonance ratio control (ERRC) is proposed to suppress the vibrations in a two-spring system. This method achieves the same scheme as the resonance ratio control applied in position control. A force impulse control is applied based on the ERRC for stable contact motion without bouncing. Stable contact motion is realized in all numerical simulations and experiments.

本誌: IEEJ Journal of Industry Applications Vol.9 No.1 （2020）

本誌掲載ページ: 51-60 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/9/1/9_51/_article/-char/ja/