Title :
Robust vibration control for SCARA robots using adaptive pole placement
Author :
Uchiyama, Naoki ; Esaki, Shoji ; Takagi, Shoji
Author_Institution :
Dept. of Mech. Eng., Toyohashi Univ. of Technol., Aichi, Japan
Abstract :
SCARA robot motions generally consist of the following two motions: one is horizontal transportation of loads by actuating two revolute joints, the other is vertical transportation by actuating a prismatic joint. The paper deals with an adaptive controller design for the former motion with vibration suppression of the prismatic joint. The proposed controller provides the performance robustness of control systems with respect to estimation error of mass of loads. Experimental results demonstrate the effectiveness of the proposed method
Keywords :
adaptive control; motion control; pole assignment; robot dynamics; robust control; vibration control; SCARA robots; adaptive controller design; adaptive pole placement; estimation error; horizontal transportation; performance robustness; prismatic joint; revolute joints; robust vibration control; vertical transportation; vibration suppression; Adaptive control; Control systems; Estimation error; Motion control; Programmable control; Robot motion; Robust control; Transportation; Vibration control; Weight control;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.973190
