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

Volume

1

fYear

2000

fDate

2000

Firstpage

440

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE

Conference_Location

Nagoya

Print_ISBN

0-7803-6456-2

Type

conf

DOI

10.1109/IECON.2000.973190

Filename

973190