High Accuracy Positioning in SCARA-Type Robot by Sensor-Based Decoupling Control  

Oleh:

Sugono, S. ; Shiraishi, M. ; Aoshima, S.

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: Journal of Manufacturing Science and Engineering vol. 122 no. 1 (Feb. 2000), page 166-173.
Topik: ROBOT; high accuracy positioning; robot; sensor - based; decoupling control

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: JJ93.1 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

Lihat Detail Induk

Isi artikel

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 plant 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.

Opini Anda

Klik untuk menuliskan opini Anda tentang koleksi ini!

Kembali