Deadbeat Feedforward Compensation with Frequency Shaping of Position Feedforward Controller

Hirose Noriaki, Tajima Ryosuke

doi:10.1541/ieejjia.6.100

Deadbeat Feedforward Compensation with Frequency Shaping of Position Feedforward Controller

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Hirose Noriaki

TOYOTA CENTRAL R&D LABS., INC.
Tajima Ryosuke

TOYOTA CENTRAL R&D LABS., INC.

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説明

<p>Fast and precise positioning is one of the key requirements for improving the productivity and quality of industrial robots. Many feedforward compensation techniques for 2-degree-of-freedom control systems have already been proposed to realize high-performance positioning. These feedforward compensation techniques can be categorized into two types: 1) point-to-point control and 2) continuous path control. The author has already proposed a deadbeat feedforward compensation technique under the former category, which can ensure the specified settling time for a step reference and can suppress the vibration mode in a mechanical system. In the present study, we enhance the previous method in order to consider continuous path control by applying additional cost functions for gain and phase characteristics.</p><p>The effectiveness of the proposed approach is verified using an experimental setup.</p>