2024-03-29T04:35:23Z
https://u-ryukyu.repo.nii.ac.jp/oai
oai:u-ryukyu.repo.nii.ac.jp:02003800
2022-10-31T01:44:19Z
1642837622505:1642837855274:1642837872220
1642838403551:1642838406845
外乱オブザーバにファジィ推論機能を付加したロボットアームの軌道制御法
Trajectory Control of Two-Link Robot Arm Using Disturbance Torque Observer with Fuzzy Reasoning.
上里, 勝實
千住, 智信
安次嶺, 伸吾
上古殿, 寿
Uezato, Katsumi
Senjyu, Tomonobu
Ashimine, Shingo
Kamifurutono, Hisashi
open access
Direct Drive Robot
Fuzzy Control
Disturbance Torque Observer
Estimation Error
It is expected that a direct drive (DD) robot can keep high positioning accuracy and quick-response and so on, because it does not have back-lash without gear. Therefore, DD robot is working in many plants in recent years.\nHowever, it is found that non-linear force of joints interference is big, so the control performance is inferior. Therefore, to keep the control performance with a high-performance, the control system which can make up for the nonlinear force is needed. In order to make up for the non-linear force, we consider the non-linear force as a disturbance, and we estimate the disturbance using observer, and add it to the control input. However the estimated disturbance torque contains estimation error. So, the control system which can compensate the estimation error is needed. The observer-based robot arm controller with fuzzy reasoning, which can infer the estimation error and can compensate the influence of estimation error, is proposed in this paper.
紀要論文
琉球大学工学部
1995-09
jpn
departmental bulletin paper
VoR
http://hdl.handle.net/20.500.12000/5467
http://hdl.handle.net/20.500.12000/5467
https://u-ryukyu.repo.nii.ac.jp/records/2003800
0389-102X
AN0025048X
琉球大学工学部紀要
50
141
154
https://u-ryukyu.repo.nii.ac.jp/record/2003800/files/No50p141.pdf