Vibration Suppression Control Using Resonance Frequency Damping Disturbance Observer for Robot Servo 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: 2021/01/01

タイトル(英語): Vibration Suppression Control Using Resonance Frequency Damping Disturbance Observer for Robot Servo System

著者名: Akinori Yabuki (National Institute of Technology, Ishikawa College), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University of Technology), Yuki Yokokura (Nagaoka University of Technology), Toshiyuki Kanmachi (National I

著者名(英語): Akinori Yabuki (National Institute of Technology, Ishikawa College), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University of Technology), Yuki Yokokura (Nagaoka University of Technology), Toshiyuki Kanmachi (National I

キーワード: three-inertia system，vibraion suppression，industrial robot

要約(英語): To suppress the residual vibration of the resonance frequency of a three-inertia system, this paper proposes a current control system that has a resonance damping structure focusing on the vibration modes of the three-inertia system. Because the conventional position/velocity control system based on the two-inertia model focuses only on the primary resonance frequency, its residual vibration is induced by using the conventional control system based on a two-inertia model as against the three-inertia system. The conventional current control system does not include a resonance damping structure. The proposed current control system damps the secondary resonance frequency of the three-inertia system, whereas the ordinary position/velocity control system suppresses the primary resonance frequency of the three-inertia system. The effectiveness of the position/velocity control system using the proposed current control is confirmed through experiments.

本誌: IEEJ Journal of Industry Applications Vol.10 No.1 （2021） Special Issue on “Motor Drive and its Related Technologies”

本誌掲載ページ: 36-44 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/10/1/10_20003474/_article/-char/ja/