中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Acceleration feedback control for direct-drive motor system

文献类型:会议论文

作者Han JD(韩建达); Wang YC(王越超); Tan DL(谈大龙); Xu WL(徐伟力)
出版日期2000
会议名称IEEE/Robotics-Society-of-Japan International Conference on Intelligent Robots and Systems (IROS 2000)
会议日期October 31 - November 5, 2000
会议地点TAKAMATSU, JAPAN
页码1068-1074
中文摘要In this study, classical PD control for direct drive motor system is enhanced to suppress disturbing torque by incorporating an acceleration feedback loop. This intends to achieve a stable and high stiffness control without the need of adjusting the PD controller; either the structure or the parameters. The acceleration feedback control is presented with a focus on designing the acceleration closed-loop in terms of its stability and ability in resisting the dynamic disturbances. The sensing and modeling of angular acceleration via servo-type linear accelerometers is dealt with in viewpoint of practical implementation Extensive experiments are conducted on the second joint of a three-link direct drive robot. Results are given against those obtained by classical PD control without the acceleration feedback loop, to mainly investigate the ability of the acceleration feedback control in resisting disturbing torque, and its influence to the conventional PD control.
收录类别EI ; CPCI(ISTP)
产权排序1
会议主办者IEEE, Ind Electr Soc, IEEE, Robot & Automat Soc, Robot Soc Japan, Soc Instrument & Control Engineers, New Technol Fdn, Kagawa Univ
会议录2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS
会议录出版者IEEE
会议录出版地NEW YORK
语种英语
ISBN号0-7803-6349-3
WOS记录号WOS:000166948600173
源URL[http://ir.sia.cn/handle/173321/7748]  
专题沈阳自动化研究所_沈阳自动化所知识产出(2000年前)
推荐引用方式
GB/T 7714
Han JD,Wang YC,Tan DL,et al. Acceleration feedback control for direct-drive motor system[C]. 见:IEEE/Robotics-Society-of-Japan International Conference on Intelligent Robots and Systems (IROS 2000). TAKAMATSU, JAPAN. October 31 - November 5, 2000.

入库方式: OAI收割

来源:沈阳自动化研究所

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