COMPARISON OF TWO-INERTIA SYSTEMS WITH TORQUE/ACCELERATION FEEDBACKS

スポンサーリンク

概要

• 論文の詳細を見る

• Most robots are driven through reduction gear units. Because of the flexibility of the drive system, the vibratory behavior is caused. The drive system of the robot joint can be modeled as a two-inertia system. In this paper, we consider the two-inertia system with the torque, motor-acceleration and load-acceleration feedbacks. First, it is explained that the inertia-ratio is a very important factor. Second, it is shown that these feedbacks can change the inertia-ratio. Next, the performances of I-P speed control systems with feedbacks are compared. Finally, the experiments are performed. As a result, the torsion vibrations are suppressed effectively.

• 一般社団法人日本機械学会の論文

著者

• Furusho Junji

  Graduate School Of Engineering Osaka University

• Takesue Naoyuki

  Graduate School Of Engineering Osaka University

関連論文

• 多層ディスク-マイクロギャップ構造を有するコンパクトMR流体クラッチの研究開発
• Quasi-3DOF Active / Passive Hybrid Rehabilitation System for Upper Limbs: "Hybrid-PLEMO"
• Fast Response MR-Fluid Actuator
• Velocity Control of Brake Using Particle-Type ER Fluid and Its Application to Isokinetic Exercise System
• Transition and Trot gait of Horse-type Quadruped Robot
• DAMPING PROPERTIES OF ER FLUID ON PATTERN ELECTRODES : CONSIDERATION ON COMPOSITION OF ELECTRODES AND ELECTRIC FIELD
• COMPARISON OF TWO-INERTIA SYSTEMS WITH TORQUE/ACCELERATION FEEDBACKS
• STUDY ON SUPPRESSION OF LOW AND HIGH PERIODIC TRANSFER VARIATION OF SERVO SYSTEM USING TIMING BELT DRIVES
• 多層ディスク-マイクロギャップ構造を有するコンパクトMR流体クラッチの研究開発

スポンサーリンク