Vibration suppression control for a two-link planar manipulator: Simulation study on state feedback control using angular-velocity of final gear stage

IEEE International Conference on Mechatronics and Automation, ICMA 2005

Volumn , Issue , 2005, Pages 382-387

  Itoh, Masahiko ^a  

^a SENDAI NATIONAL COLLEGE OF TECHNOLOGY   (Japan)

Author keywords

Geared system; State feedback; Transient vibration; Two link manipulator; Vibration control

Indexed keywords

COMPUTER SIMULATION; ELECTRIC MOTORS; FEEDBACK CONTROL; GEARS; MANIPULATORS; SENSORS; VELOCITY MEASUREMENT;

ANGULAR-VELOCITY; STATE-FEEDBACK; TRANSIENT VIBRATION; TWO-LINK MANIPULATORS;

VIBRATION CONTROL;

EID: 27744514640     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

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2. Yuki, K. et al., "Vibration Control of a 2-Mass Resonant System by the Resonance Ratio Control," Trans. IEE Japan, (in Japanese), vol. 113(D), No. 10, pp.1162-1169, 1993.
3. Honke, K. et al., "Motion and Vibration Control for Robot Arm with Elastic Joint (Application of Disturbance Observer Including Elastic Vibration)," Trans. Jpn. Soc. Mech. Eng., (in Japanese), vol.60(C).No. 577, pp.3045-3050, 1994.
4. Godler, I. et al., "Vibration Suppression for a Speed Control System with Gear," J. Jpn. Soc. Prec. Eng., (in Japanese), vol.60, No.1, pp.86-90, 1994.
5. Chen, X. et al., "Robust Sliding-Mode Tip Position Control for Flexible Arms," IEEE Trans. Industrial Electronics, vol.48, No.6, pp. 1048-1056, 2001.
6. Itoh, M. et al., "Self-Compensating Control for Suppression of Rotational Speed Variation Excited by Reduction Gear Mechanism," Proc. of 1997 ASME Design Engineering Tech. Conf., No. DETC97/VIB-3801, pp. 1-9, 1997.