High Speed Motion Control Method of Industrial Robot Based on Dynamic Torque Compensation and Two-Degrees-of-Freedom Control System

IEEJ Transactions on Industry Applications

Volumn 123, Issue 5, 2003, Pages 525-532

  Miyazaki, Toshimasa ^a   Ohtaki, Sakae ^b   Tungpataratanawong, Somsawas ^b   Ohishi, Kiyoshi ^b  

^a NAGAOKA NATIONAL COLLEGE OF TECHNOLOGY   (Japan)

^b NAGAOKA UNIVERSITY OF TECHNOLOGY   (Japan)

Author keywords

Feedforward Torque Compensation; Motion Control; Robust Control; Two Dcgrees of FVcedom Control System

Indexed keywords

EID: 20544465272     PISSN: 09136339     EISSN: 13488163     Source Type: Journal    
DOI: 10.1541/ieejias.123.525     Document Type: Article

References (13)

1. K. Ohishi: “Motion Control for One-Degree of Freedom Motion System”, Journal of the Society of Instrument and Control Engineers, Vol. 39, No. 10, pp. 608-614 (2000-10) (in Japanese)
2. K. Ohishi, M. Ohinishi, and T. Miyazaki : “Motion Control of a Multi joint Robot Based on a Robust Velocity Controller”, T. IEEJapan, Vol. 116-D, No. 2, pp. 144-151 (1996-2) (in Japanese)
3. T. Kaneko, T. Umeno, and Y. Hori : “Motion Control of Multi-Axis Manipulator Using Robust Servo System with Two Degrees of Freedom”, Journal of the Robotics Society of Japan, Vol. 9, No. 7, pp. 28-38 (1991-11) (in Japanese)
4. Y. Fujimoto and A. Kawamura : “An Inertia Fluctuation Insensitive Robust Control of Robot Manipulators Based on a Combination of Inertia Torque Computation Filter and H8 Control”, T. IEE Japan, Vol. 117-D, No. 4, pp. 493-500 (1997-4) (in Japanese)
5. T. Miyazaki, K. Ohishi, A. Hashimoto, and T. Nakatsuka : “Robust Speed Control for Robot Arm Considering Angular Transmission Error of Gear”, T. IEE Japan, Vol. 118, No. 12, pp. 1427-1434 (1998-12) (in Japanese)
6. R. Nakashima, M. Ojima, R. Oguro, and T. Tsuji : “A Decoupling Control Method for Industrial Robots”, T. IEE Japan, Vol. 120, No. 5, pp. 673-679 (2000-5) (in Japanese)
7. M. Yamamoto, N. Yanai, and A. Mohri : “Inverse Dynamics and Control of a Crane-Type Manipulator with Multi-Degrees of Freedom”, Journal of the Soc. of Instrument and Control Engineers, Vol. 17, No. 7, pp. 123-129 (1999-10) (in Japanese)
8. H. An, G. Atkeson, and M. Hollerbach : “Model-Based Control of a Robot Manipulator”, MIT Press (1988)
9. T. Miyazaki, K. Ohishi, and S. Ohtaki : “Realization of Inverse Dynamics Compensation and Vibration Suppression for Multi-Joint Robot based on Feedforward Control”, The 23rd SICE Symposium on Dynamical System Theory, pp. 95-98 (2000-11) (in Japanese)
10. T. Miyazaki and K. Ohishi : “Motion Control based on Path Tracking Control System Having Robust Pole-Zero Allocation”, 2001 JSME Conference on Robotics and Mechatronics, P2P-G4 (2001-8) (in Japanese)
11. S. Ohtaki, T. Miyazaki, S. Tungpataratanawong, and K. Ohishi : “Robust Motion Control Method of Industrial Robot Manipulator based on Dynamic Torque Compensation and Two-Degrees-of-Freedom Control”, Tech. Meeting on Industrial Instrumentation and Control, IIC-02-25 pp. 59-64 (2002-3) (in Japanese)
12. M. Tomizuka: “Zero Phase Error Tracking Algorithm for Digital Control”, Trans. on ASME Journal of Dynamic Systems, Measurement and Control, Vol. 109, pp. 65-68 (1987)
13. K. Ohishi, M. Miyazaki and M. Fujita : “Hybrid Position and Force Control without Force Sensor”, Journal of the Soc. of Instrument and Control Engineers, Vol. 11, No. 3, pp. 166-174 (1993-4) (in Japanese)