Robust and High Precision Position Servo System of Geared AC Servo Motor Based on Nonlinear Stiffness Variation Torque Observer

カテゴリ: 研究会(論文単位)

論文No: SPC19056,MD19056

グループ名: 【D】産業応用部門 半導体電力変換/【D】産業応用部門 モータドライブ合同研究会

発行日: 2019/01/25

タイトル(英語): Robust and High Precision Position Servo System of Geared AC Servo Motor Based on Nonlinear Stiffness Variation Torque Observer

著者名: Vera Paramo Julio Cesar(長岡技術科学大学),大石 潔(長岡技術科学大学),横倉 勇希(長岡技術科学大学)

著者名(英語): Julio Cesar Vera Paramo(Nagaoka University of Technology),Kiyoshi Ohishi(Nagaoka University of Technology),Yuki Yokokura(Nagaoka University of Technology)

キーワード: Ｒｏｂｏｔ　Ｃｏｎｔｒｏｌ|Ｉｎｄｕｓｔｒｉａｌ　Ｒｏｂｏｔ|Robot Control|Industrial Robot

要約(日本語): The torque transmission in robotic joints often generates its nonlinear phenomenon due to flexibility in harmonic gears. This phenomenon, as well as friction, produces its position error in the load-side position. In this paper, a compensation method is p

要約(英語): The torque transmission in robotic joints often generates its nonlinear phenomenon due to flexibility in harmonic gears. This phenomenon, as well as friction, produces its position error in the load-side position. In this paper, a compensation method is proposed to correct the variation of the torsion torque effect in the arm position, considering a new nonlinear torsion torque observer based on the nonlinear torsion torque model.

原稿種別: 英語

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