Vibration Control of a Robot Arm by Trajectory Generation Using Sliding Mode

DOI

Bibliographic Information

Other Title
  • スライディングモードを用いた軌道生成によるロボットアームの振動制御

Description

This paper deals with sliding mode control for trajectory generation to reduce the vibration of a robot arm. When the robot arm is driven, it produces its vibrations when its rigidity is low, so the prevention of such vibration has become more important. In this paper, in order to suppress a vibration of a robot arm, we propose a new control approach which generates a reference trajectory to the lower controller to suppress vibration. The effectiveness of the method is demonstrated by simulation studies.

Journal

Keywords

Details 詳細情報について

  • CRID
    1390282680623269888
  • NII Article ID
    130005025477
  • DOI
    10.11511/jacc.52.0.277.0
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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