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This paper introduces a novel multirate feedforward control method for robot manipulators with elastic joints. Perfect tracking control methodology using multirate feedforward control was proposed by H. Fujimoto, et. al. Furthermore, A. Shimada, et. al. have described its application to robot manipulators; however, they only described the controller design process and gave a few simulation results...
It is well known that the frame vibration of the PMSM occurs. The authors have suggested a suppression frame vibration method using Fourier transform and repetitive control. The method requires an acceleration sensor and a position sensor. However, the use of such a sensor is not desired from a cost point of view. Therefore, in this paper, we propose a frame vibration suppression method with no sensor...
A high-speed motion control technique of inverted pendulum robots making use of the unstability is introduced. Inverted pendulum is self-regulated system to simulate a game that a child sways up umbrella or stick. And the controller design for various pendulums have widely challenged in 1980s. After them, the machines for human riding using the same principle were developed and have been sold in U...
This paper describes a position sensorless control technique on AC servo motor position control systems. We had previously presented a paper on the DC servo motor position sensorless control technique using mechanical springs. It was based on a point of view that mechanical springs form the key components for the observability. On the basis of the result obtained from the successful experiment, we...
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