Tip Position Control of a Flexible Robot Arm Considering the Reduction Gear's Friction | Zendy

Yasuo Yoshida | Zendy; Masato Tanaka | Zendy

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Tip Position Control of a Flexible Robot Arm Considering the Reduction Gear's Friction

Author(s) -

Yasuo Yoshida,

Masato Tanaka

Publication year - 1990

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1990.p0091

Subject(s) - control theory (sociology) , reduction (mathematics) , position (finance) , coulomb friction , torque , dynamical friction , friction torque , static friction , viscous damping , mechanics , physics , materials science , computer science , control (management) , nonlinear system , mathematics , acoustics , vibration , artificial intelligence , geometry , finance , quantum mechanics , economics , composite material , thermodynamics , astrophysics

The reduction gear's friction strongly affects the dynamic characteristics of a one-link flexible robot arm. Experiments of open loop response by motor torque were performed in two cases of large and small values of the reduction gear's friction, and compared with simulation. The reduction gear's friction has both viscous and Coulomb aspects and can be approximately treated as an equivalent viscous friction. However, tip position control was very difficult in the case of large friction with an equivalent viscous friction. Experiments indicated that tip position feedback control was possible by using a dither signal and linearizing the non-linear friction.

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