位相遅れの少ないノッチフィルタリングシステムによる産業用ロボットの軌跡追従制御の性能改善法

概要

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This paper proposes a new generation method of the position reference having both the vibration suppression performance and fast tracking performance for industrial robots. It is important for industrial robots to drive high speed and high accuracy. In such cases, the vibration phenomenon is generated. Conventionally, the notch filter is used in order to suppress the vibration phenomenon. It is able to eliminate the natural frequency component. However, the reference phase error is generated. The reference phase error causes the locus error in the robot. Therefore, the accuracy of the robot is deteriorated by using the notch filter. The proposed method overcomes this problem by using the compensation gain. The proposed compensation gain is used in order to calculate the reference phase error. The compensation of reference phase error is attained by the feedforward input. The numerical and the experimental results confirm that the proposed method is valid to suppress the vibration phenomenon and improves the phase error.
社団法人電気学会の論文
2008-06-01