| 203D6 |
|---|
| Control of elastic joint manipulator using¡¡a multi-mass¡¡model |
| AUTHORS |
| Asato Nakauchi, Takeshi Nishida, Toshihiro Kobayashi (Kyushu Institute of Technology) |
| ABSTRACT |
| In recent years, a lightweight mechanism and high-speed and highly precise operation are required for industrial manipulators. However, lightening the mechanical system decreases stiffness. Therefore, high speed and highly precision is difficult because of axis ¡Ætorsion¡Ç between motor and manipulator. Torsional vibration suppression control is very important. In the case of dealing with low stiffness system, it is necessary to treat a multi mass resonance system. We model a vertical two-link manipulator with elastic joints as a multi mass resonance system. We model the first link as a three mass resonance system, and the second link as a two mass resonance system, and design a sliding mode controller. We construct the observer-based controller only using measurement of the motor angle. Unlike the conventional method, the system can be controlled only with a motor angle. MATLAB simulating gives the good results that the link angle follows a reference input, without vibration. |
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Annual Conference 2002