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Industrial robots are required to perform high-speed and high-precision motion. Industrial robots are controlled using a conventional PI velocity controller with state feedback system for a two-inertia system. In general, the axis is modeled as a two-inertia system. However, a three-inertia system is required for modeling the axis because the industrial robot is required to have more high-performances...
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...
Recently, a soft robot considering the contact of the human has attracted attention, and the zero stiffness torque control is required. Because a soft robot causes vibration at the load side, vibration suppression control of a soft robot is required. In this paper, the authors discuss position control and torque control of a soft robot by using a torsion torque sensor based on a resonance ratio control...
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 control method to realize interior permanent magnet synchronous motor (IPMSM) drive system without using both an electrolytic capacitor and an line inductor. In general, an electrolytic capacitor-less inverter shows input current vibration in the source side if there is a line impedance on the source. This vibration is caused by resonance with the line impedance and the DC-link...
To enhance the productivity and quality, high speed and high precision industrial robots are required. Industrial robots suffer a vibration caused by the axial torsion that adversely affects their motion control. In addition, the vibration of a joint is transfered to another joint because of the dynamic interferences with the robot manipulator. To overcome these problems, this paper proposes a new...
In the robot systems and intelligent machines, the gear-box or mechanisms are connected with the motor to transmit the actuator torque to a distant joint. Generally, its elasticity causes resonance frequency in the system. By using the conventional PID controller, this method cannot perform well in this situation. Much research has proceeded with the aim of reducing vibration. A new effective control...
This paper proposes two vibration suppression control systems for industrial robots. Industrial robots often occur vibration phenomenon which is caused by the resonant frequency and nonlinear interference force from various joints of the robot. The compact high-gear reduction without backlash, such as the harmonic gear is frequently used in the driving system for the sake of high load-to-weight performance...
This paper proposes a new motion control strategy for industrial robots. It is important for industrial robots to regulate the motion of robot on condition of high speed and high accuracy. However, an industrial robot often has the vibration phenomenon which is generated by the resonant frequency and the nonlinear interference force from the other joints of robot. In order to overcome these problems,...
This paper proposes a new anti-slip/skid re-adhesion control system for electric commuter train driven by inverter-fed induction motors. This paper designs an instantaneous tangential force estimator between driving wheel and rail, which is based on disturbance observer. The torque command of proposed system regulates to exceed this estimated tangential force in order to avoid undesirable slip phenomenon...
In recent years, a force control system is applied to many applications. There is much research about force control for machine tools. Generally, in force control systems, the force information from the environment is detected by force sensor. However, the control system using force sensor has some problems, such as signal noise, colocation problem and narrow bandwidth. This paper proposes a new force...
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