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Tracking control for industrial robot using notch filtering system with little phase error
Author(s) -
Kataoka Hisashi,
Miyazaki Toshimasa,
Ohishi Kiyoshi,
Katsura Seiichiro,
Tungpataratanawong Somsawas
Publication year - 2011
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.20931
Subject(s) - feed forward , control theory (sociology) , vibration , compensation (psychology) , robot , band stop filter , tracking error , industrial robot , computer science , phase (matter) , position (finance) , filter (signal processing) , control engineering , engineering , artificial intelligence , control (management) , low pass filter , computer vision , acoustics , physics , psychology , finance , quantum mechanics , psychoanalysis , economics
This paper proposes a new method for generation of a position reference that has both vibration suppression performance and fast tracking performance for industrial robots. It is important for industrial robots to drive at high speed and with high accuracy. In such cases, vibration is generated. Conventionally, the notch filter is used in order to reduce vibration. It is able to eliminate the natural frequency component, but a reference phase error is generated. The reference phase error causes locus error in the robot. Therefore, the accuracy of the robot is degraded by using a notch filter. The proposed method overcomes this problem by using the compensation gain. The proposed compensation gain is used in order to calculate the reference phase error. Compensation of the reference phase error is attained by feedforward input. Numerical and the experimental results confirm that the proposed method is valid for reducing vibration phenomena and that it decreases the phase error. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 175(1): 53–63, 2011; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.20931