High-Performance Positioning using Decoupling Controllers for Flexible Two-Link Robots with Strain Wave Gears

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: 2020/07/01

タイトル(英語): High-Performance Positioning using Decoupling Controllers for Flexible Two-Link Robots with Strain Wave Gears

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: lightweight robots，flexible robots，strain wave gear，decoupling control，vibration suppression

要約(英語): The objective of our research is to develop a high-performance position control system for flexible industrial robots. Compared to traditional industrial manipulators with rigid links and joints, flexible robots are often more difficult to control because of the mechanical vibrations caused by the low-stiffness mechanisms and coupling torques between links. This paper proposes a decoupling control design based on a 2-Degree-of-Freedom (2-DoF) control framework for flexible two-link robots with lightweight links and strain wave gears. The effectiveness of the proposed method is verified through experiments with a prototype.

本誌: IEEJ Journal of Industry Applications Vol.9 No.4 （2020）

本誌掲載ページ: 408-417 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/9/4/9_408/_article/-char/ja/