Acceleration Bias Drift Observer for Industrial Robots with an Accelerometer and Its Applications

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: 2024/07/01

タイトル(英語): Acceleration Bias Drift Observer for Industrial Robots with an Accelerometer and Its Applications

著者名: Sora Nagao (Nagaoka University of Technology), Yusuke Kawai (National Institute of Technology, Ichinoseki College), Yuki Yokokura (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University

著者名(英語): Sora Nagao (Nagaoka University of Technology), Yusuke Kawai (National Institute of Technology, Ichinoseki College), Yuki Yokokura (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University of Technology)

キーワード: acceleration bias drift observer，load-side acceleration sensor，two-inertia system，industrial robot

要約(英語): The feedback of load-side acceleration is an effective method in the control of a two-inertia system. The load-side acceleration is generally obtained using an acceleration sensor. However, the bias drift of the sensor poses problems. Under an acceleration sensor bias, the velocity response experiences drift phenomena caused by sensor bias. In this paper, an observer that estimates the bias of the load-side acceleration sensor is designed. The proposed observer is evaluated using proportional velocity control. As an application, the proposed observer was applied to the load-side acceleration control, and it compensated for the effect of the acceleration sensor bias. Its effectiveness was verified through simulations and experiments.

本誌: IEEJ Journal of Industry Applications Vol.13 No.4 （2024） Special Issue on “JIASC 2023”

本誌掲載ページ: 389-399 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/13/4/13_23008684/_article/-char/ja/