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Fine vibration suppression control based on new two-inertia state observer feedback against three-inertia robot joint
- Source :
- ISIE
- Publication Year :
- 2017
- Publisher :
- IEEE, 2017.
-
Abstract
- 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 motion. This paper proposes a vibration-suppression control system for a three-inertia system based on a PI velocity control system with state feedback system using the two-inertia approximation model. The new two-inertia system for the state observer is designed as an approximation model based on the three-inertia system. The effectiveness of the proposed system is confirmed by numerical simulations and experiments.
- Subjects :
- Engineering
media_common.quotation_subject
MathematicsofComputing_NUMERICALANALYSIS
02 engineering and technology
Inertia
01 natural sciences
Sliding mode control
law.invention
Industrial robot
Control theory
law
ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION
0103 physical sciences
0202 electrical engineering, electronic engineering, information engineering
State observer
ComputingMethodologies_COMPUTERGRAPHICS
media_common
010302 applied physics
business.industry
020208 electrical & electronic engineering
Control engineering
State (functional analysis)
Vibration
Control system
Robot
business
Subjects
Details
- Database :
- OpenAIRE
- Journal :
- 2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)
- Accession number :
- edsair.doi...........ee2ec46a0ea63ba0a4c9ed1d2d63fe93
- Full Text :
- https://doi.org/10.1109/isie.2017.8001398