Motion Control Strategy of Industrial Direct Drive Robot for Vibration Suppression
文献类型：会议论文
| 作者 | Huang LS(黄梁松); Qu DK(曲道奎); Xu F(徐方) |
| 出版日期 | 2010 |
| 会议名称 | 2010 8th World Congress on Intelligent Control and Automation (WCICA 2010) |
| 会议日期 | July 7-9, 2010 |
| 会议地点 | Jinan, China |
| 关键词 | direct drive robot model correction Motion Control Vibration Suppression |
| 页码 | 2430-2433 |
| 中文摘要 | Although it has many advantages such as high mechanical rigidity, fast dynamic response and high efficiency and precision, a direct drive robot is easy to vibrate because of sensibility to non-linearity, variety of parameter and external disturbance. This paper presents a model correction control strategy, which corrects the unmodeled dynamics of control system and suppresses disturbances by a unique control structure with a state observer and a digital low-pass filter, Theoretical and experimental results indicate that this strategy can effectively eliminate high order dynamic, nonlinearity, measurement noise and variation of load torque in the control system, and improves a direct drive robot motion control system's stability, robustness and resistance to disturbances, effectively suppresses the vibration. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE |
| 会议录 | 2010 8th World Congress on Intelligent Control and Automation (WCICA 2010)
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-6712-9 |
| WOS记录号 | WOS:000295959502116 |
| 源URL | [http://ir.sia.cn/handle/173321/7667]  |
| 专题 | 沈阳自动化研究所_其他 |
| 推荐引用方式 GB/T 7714 | Huang LS,Qu DK,Xu F. Motion Control Strategy of Industrial Direct Drive Robot for Vibration Suppression[C]. 见:2010 8th World Congress on Intelligent Control and Automation (WCICA 2010). Jinan, China. July 7-9, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。