書誌事項
- タイトル別名
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- Robust Speed Control for Robot Arm Considering Angular Transmission Error of Gear
- ギア ノ カクド デンタツ ゴサ オ コウリョ シタ ロボットアーム ノ ロバ
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抄録
This paper proposes a new numerical simulation model of angular transmission error of strain wave gear, and designs a robust speed control system for the robot arm with this angular transmission error. The proposed numerical simulation model can confirm the vibration of the robot arm caused by this angular transmission error. It is very difficult for the conventional control system using both a PI controller and a state feedback to suppress the vibration of the robot arm completely. The proposed robust speed control system, which is a two-degrees-of-freedom control system based on disturbance observer, can suppress the arm vibration. The numerical simulation results show the proposed system well regulates the motor speed and suppresses the vibration of load speed.
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) 118 (12), 1427-1434, 1998
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
- 1390282679636099328
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- NII論文ID
- 10002727665
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
- http://id.crossref.org/issn/09136339
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- NDL書誌ID
- 4612074
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可