Bandwidth modulation of rigid subsystem for the class of flexible robots

Focuses on the design of rigid part motion control and the selection of bandwidth of the rigid subsystem. Based on the passivity approach and disturbance observer, we investigate the relationship between macro joint tracking performance and vibration suppression capability using the joint motion ban...

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Bibliographic Details
Published inProceedings - IEEE International Conference on Robotics and Automation Vol. 2; pp. 1478 - 1483 vol.2
Main Authors Cheong, Joono, Chung, Wankyun, Youm, Youngil
Format Conference Proceeding Journal Article
LanguageEnglish
Published IEEE 2000
Subjects
Adaptive control
Bandwidth
Biomechatronics
Equations
Manipulator dynamics
Mechanical engineering
Motion control
Robots
Torque control
Vibrations
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Summary:Focuses on the design of rigid part motion control and the selection of bandwidth of the rigid subsystem. Based on the passivity approach and disturbance observer, we investigate the relationship between macro joint tracking performance and vibration suppression capability using the joint motion bandwidth parameter. For the flexibility isolated system, the independent sub-controllers for the rigid and flexible part are proposed just like the singular perturbation approach. The validity of the proposed method is verified by experiments.
Bibliography:SourceType-Scholarly Journals-2
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ObjectType-Conference Paper-1
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ISBN:9780780358867
0780358864
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2000.844806