書誌事項
- タイトル別名
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- Hybrid Position/Force Control of Direct Drive Robots by Disturbance Observer in Task Coordinate Space.
- ガイラン オブザーバ ニ ヨル サギョウ ザヒョウ クウカン デ ノ ダイレク
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Since direct drive (DD) motors directly drive their loads without reduction gears or ball screws, high stiffness and little friction loss are expected. However, DD motors are more sensitive to the disturbance and the parameter variation than motors with reduction gears. This paper proposes a simple and high performance hybrid position/force control of robots based on disturbance compensation by using the disturbance observer in task coordinate space. The disturbance observer linealizes system of robot manipulators in task coordinate space and realizes acceleration control. To realize the strict acceleration control, the disturbance observer whose input is a position signal by simple computation, works as if it were a disturbance detector. The inverse kinematics can be simplified, because the disturbance observer in task coordinate space compensates not only the disturbance but also the error due to the simplification of the inverse kinematics. The new strategy is applied to a three-degrees-of freedom direct drive robot. The robust and simple hybrid position/force control is realized experimentally.
収録刊行物
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 112 (12), 1235-1242, 1992
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390001204655251072
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- NII論文ID
- 130000960091
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 3790632
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
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- 抄録ライセンスフラグ
- 使用不可