Speed control basing on Vibration Observer for Vibration caused by Angular Transmission Error of Cycloid Gear

カテゴリ: 全国大会

論文No: 4-158

グループ名: 【全国大会】平成25年電気学会全国大会論文集

発行日: 2013/03/05

タイトル(英語): Speed control basing on Vibration Observer for Vibration caused by Angular Transmission Error of Cycloid Gear

著者名: グエンヒエン (長岡技術科学大学),河原 翔太(長岡技術科学大学),吉岡 崇(長岡技術科学大学),大石 潔(長岡技術科学大学),宮崎 敏昌(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): Hien Nguyen(Nagaoka University of Technology),Shouta Kawahara(Nagaoka University of Technology),Takashi Yoshioka(Nagaoka University of Technology),Kiyoshi Ohishi(Nagaoka University of Technology),Toshimasa Miyazaki(Nagaoka University of Technology),Yuki Yokokura(Nagaoka University of Technology)

キーワード: RV　減速機|角度伝達振動|2慣性共振系

要約(日本語): Recently, cycloid gears are widely used in industrial robots to perform fast and precise motions. On the other hand, due to assembly and manufacturing error, RV gear has an angular transmission error. This angular transmission error causes vibration of robot speed response, lowering positioning accuracy. This paper proposes an observer with a new structure to estimate the vibration and calculates a compensating current to suppress the vibration. The effectiveness of the proposed method is confirmed by simulation results.

原稿種別: 日本語

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