High accuracy positioning in SCARA-type robot by sensor-based decoupling control

被引：2

作者：

Shiraishi, M ^{[1
]}

Sugano, S ^{[1
]}

Aoshima, S ^{[1
]}

机构：

[1] Ibaraki Univ, Fac Engn, Hitachi, Ibaraki 316, Japan

来源：

JOURNAL OF MANUFACTURING SCIENCE AND ENGINEERING-TRANSACTIONS OF THE ASME | 2000年 / 122卷 / 01期

关键词：

D O I：

10.1115/1.538915

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

To compensate for the effects of coupling torque and load variations experienced in SCARA-type robots, we propose a new method of sensor-based decoupling control. In this method the plans is first nominalized with the use of a disturbance observer and then nonlinear feedback control is accomplished by this nominalized system based on information from acceleration sensors installed at the end of the robot hand. As a result of high-speed reciprocal motion with a payload of 10 kg mounted on the hand we were able to achieve satisfactory decoupling using this method, improvements were also made in steady-state characteristics.

引用

页码：166 / 173

页数：8

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