Multivariable Root Loci of Control Systems of Robot Manipulators with Flexible Driving Systems* : Distortion Feedback

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概要

• 論文の詳細を見る

• Flexibility of driving systems produces robot arm vibration. Since vibration decreases the operation efficiency and quality, the prevention of such vibration becomed an important consideration in robot arm control. High-gain feedback of disortion in driving systems at each joint improves the oscillatory behavior of the robot system. By using a theory of multivariable root loci, we present two propositions on the behavior of the closed-loop eigenvalues when the high-gain feedback of distortion is implemented.

• 一般社団法人日本機械学会の論文
• 1992-03-15

著者

• FURUSHO Junji

  Department of Mechanical Engineering, Fukui University of Technology

• Furusho Junji

  Department Of Mechanical And Control Engineering The University Of Electro-communications

• Furusho Junji

  Department Of Computer-controlled Mechanical Systems Graduate School Of Engineering Osaka University

• Naruse M

  Faculty Of Engineering Gifu University

• NAGAO Hiroshi

  Research and Develop Department, Product Development Division, Mizuno Corporation

• NARUSE Makoto

  Faculty of Engineering, Gifu University

• Nagao Hiroshi

  Research And Develop Department Product Development Division Mizuno Corporation

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