Motion Reproduction for Flexible Structure using Wave-based Load Disturbance Observer

被引：0

作者：

Nambo, Koya ^{[1
]}

Katsura, Seiichiro ^{[1
]}

机构：

[1] Keio Univ, Dept Syst Design Engn, Yokohama, Kanagawa 2238522, Japan

来源：

2019 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT) | 2019年

关键词：

Motion-copying system; Motion reproduction; Wave system; Vibration suppression control; Communication disturbance observer; TIME-DELAY; SYSTEM; SUPPRESSION;

D O I：

10.1109/ICIT.2019.8755155

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Motion-copying system (MCS) is one of the effective method for saving and reproducing the human motion. By using MCS, we can choose the appropriate data depending on the various situation and reproduce by using robot. In MCS, the performance of motion reproduction is important. However, in real industrial apprication, vibration is caused by mechanical resonances. Then, performance of motion reproduction is degraded. To avoid the performance degradation, we propose motion reproduction method considering vibration suppression. By using proposed method, precise motion reproduction using flexible structure is achieved. The effectiveness of the proposed method is verified by simulations.

引用

页码：750 / 755

页数：6

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