Minimization method of both vibration suppression and path tracking error for robot manipulator.
| Project/Area Number |
20760286
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Control engineering
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| Research Institution | Nagaoka National College of Technology |
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Principal Investigator |
MIYAZAKI Toshimasa Nagaoka National College of Technology, 工学部, 准教授 (90321413)
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| Project Period (FY) |
2008 – 2010
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| Project Status |
Completed (Fiscal Year 2010)
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| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2010: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2009: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2008: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
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| Keywords | 機械力学・制御 / 知能ロボティックス / モニタリング / 知能ロボティクス |
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| Research Abstract |
It is important to achieve rapid and accurate control of the motion of industrial robots. However, industrial robots often have vibration which is caused by the resonant frequency and nonlinear interference force from various joints of the robot. In this case, the notch filtering method for generating a reference is useful for suppressing the resonant phenomenon. However, the path tracking error of the robot motion increases because phase delay becomes large by using the notch filter.
In order to overcome these problems, this paper proposes a zero-phase notch filter without phase delay for fast path tracking. Moreover, this paper proposes a fast position control method based on D-PD control with dynamic feed-forward compensation. Using these proposed strategies, this paper achieves fast and accurate robot motion control without vibration and overshoot.
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Report
(4 results)
Research Products
(7 results)
