関節空間のトルクとサーボ系の飽和を考慮したロバストなロボットモーション制御法

DOI Web Site Web Site 被引用文献8件 参考文献7件

書誌事項

タイトル別名
  • Robust Motion Control Method Considering Saturation of Joint Torque and Joint Servo System
  • カンセツ クウカン ノ トルク ト サーボケイ ノ ホウワ オ コウリョシタ

この論文をさがす

抄録

When a robot manipulator performs fast motion control, high joint torque is required. Moreover, additional joint torque is necessary to suppress disturbance. However, as an actuator can not produce very high joint torque, the saturation on joint torque occurs. This paper proposes a strategy to solve the saturation problem stated above. The two algorithms called the torque limiting algorithm and the reference adjusting algorithm are introduced. The torque limiting algorithm is applied in order to prevent the saturation of joint torque. Another algorithm called the path reference adjusting algorithm will suppress the deviation on path tracking caused by the limitation. The effectiveness of the proposed method is confirmed by experimental results of a 2-link planar arm manipulator.

収録刊行物

被引用文献 (8)*注記

もっと見る

参考文献 (7)*注記

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ