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This paper proposes a load-side acceleration control system for fine torque servoing. In the case of a 2-inertia resonant system, conventional motor-side acceleration control based on a disturbance observer induces resonant vibration that deteriorates load-side torque control. In order to solve the vibration problem, the proposed system consists of the motor-side acceleration controller, an I-PD torsion...
To achieve force control of an industrial robot, this paper proposes an I-PD force control system based on an instantaneous state observer. The structure of the proposed system is based on a resonance ratio control system and a feedback signal of the reaction force response. In this paper, the gain of a pseudo derivation is designed as the feedback gain. From the results of the designed gains, the...
This paper proposes high back-drivable pseudo I-PD torque control using load-side torque observer with torsion torque sensor. According to previous research, the back-drivability of torsion torque control using torsion torque sensor depends on load-side friction. Therefore, the authors focus on load-side torque control. Load-side torque is estimated using load-side torque observer because load-side...
To enhance the productivity and quality, high speed and high precision industrial robots are required. In the highspeed motion, the dynamic torque of industrial robot prevents the precise operation. To achieve high speed and high precision operation, the dynamic torque calculation is often used to compensate the dynamic torque. Although, it is difficult to calculate the accurate dynamic torque because...
Managing the working time (tact-time) is important to improving the efficiency of a production line using industrial robots. Therefore, the tact-time must be managed exactly. However, a feedback system generates a phase delay. Consequently, managing the designed tact-time exactly is difficult. To solve this problem, this paper proposes Final-State-Control (FSC) based on high-speed positioning control...
This paper proposes a new wideband bilateral motion-scaling control to apply in the small size robot system. The scaling Hadamard matrix is applied to reduce or magnify the force and position response of bilateral motion-scaling control. The technique to estimate the action/reaction forces of master-slave robot is designed using Kalman-filter based disturbance observer (KFDOB). Optical encoder and...
This paper presents a motion-copying system of different master-slave mechanism in variable speed of motion reproduction. The motion-saving system is performed by bilateral control algorithm to preserve arbitrary motions of human operator to a data memory. The slave actuator is affected by friction; hence, a friction-free disturbance observer is employed for force estimation on the slave side. The...
Recently, stepping motors have been widely used in the field of industrial manufacturing for high-speed position control over minute distances. Furthermore, fast and precise position control at finer angles is strongly required. However, a few problems hinder the satisfaction of these requirements when using a stepping motor. For example, the motor becomes expensive and its size increases, and the...
Among all the sensor fusion approaches, Kalman filter is the most widely used technique for system state estimation. The Kalman filter has many uses, including applications in tracking objects, navigation, economics, computer vision and robot controlling. As an example application, it is suitable method for compensating noise measurements from sensor data input and also for sensor fusion. In this...
This paper proposes a new motion-copying system that is capable of preserving and reproducing the motion of human operators. In conventional motion-copying systems, when the operator moves quickly, the reproduced force does not correspond to the stored force, owing to the large accelerations. Therefore, the motion-copying system proposed in this paper uses acceleration responses provided by acceleration...
AC servo motors are used for care/welfare robots and small home robots. The surface permanent magnet synchronous motor (SPMSM) is usually used for AC servo motors. However, for a low-velocity and high-torque drive SPMSM are sometimes not suitable for smooth robot motion control. A hybrid-type stepping motor (HBSTM) is more suitable for such robot motion control because it has many pole pairs and drives...
In this paper, we propose a new contact detection method for sensorless force control of industrial robots for human support. Sensorless force control is an useful technique with regard to force control of industrial robots. However, existing force estimation methods have some error due to the phase-lag of the disturbance observer, and due to the errors in robot dynamics identification. The proposed...
The bilateral control that is used in medical or industrial applications needs to offer rapid processing and precision. The Field Programmable Gate Array (FPGA) helps in this regard. The algorithms of velocity and acceleration estimation require a short processing time in implementation than do conventional estimation methods. Bilateral control is implemented in common and differential modes for force...
Haptic technology has been attracting widespread attention in the fields of robotics and medicine. The bandwidth of force sensing is vital to reproduce the vivid force sensation. This paper proposes a method to enlarge the bandwidth of force sensing. In this paper, the force sensing operation is constructed by a combination of a Kalman-filter and a disturbance observer for multi-sensor. In order to...
This paper proposes a new motion control method for industrial robots. It is important to regulate the motion of robot on condition of high-speed and high-accuracy for industrial robots. However, industrial robots often occur vibration phenomenon which is caused by the resonant frequency and nonlinear interference force from various joints of the robot. A zero-phase notch filter is very useful for...
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