作業空間オブザーバに基づく推定等価質量を用いた運動制御手法の有効性検証

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  • Verification of Motion Control Method with Estimated Equivalent Mass Based on Workspace Observer
  • サギョウ クウカン オブザーバ ニ モトズク スイテイ トウカ シツリョウ オ モチイタ ウンドウ セイギョ シュホウ ノ ユウコウセイ ケンショウ

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This study investigates the influence of the equivalent mass fluctuation on the control performance of a workspace-based motion control system with a workspace observer. It is theoretically demonstrated that the equivalent mass fluctuation affects the control gain, the cut-off frequency of the workspace observer, and so on. In addition, the effectiveness of the workspace motion controller based on the estimated equivalent mass with the workspace observer is discussed. In order to verify the workspace-based control method with the estimated equivalent mass, some simulation and experimental results obtained with the workspace position control of a two-degrees-of-freedom planar manipulator are presented.

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