Title :
A design method on joint torque feedback control system
Author :
Zhang, Guoguang ; Furusho, Junji
Author_Institution :
Dept. of Comput.-Controlled Mech. Syst., Osaka Univ., Japan
fDate :
31 Aug-4 Sep 1998
Abstract :
The authors presented a systematic analysis and design of a position control system with a PD controller plus joint torque feedback in a previous article (see IEEE Control Systems, vol. 18, no. 1, p. 48-55, 1998). It was found that there exists a trade-off relationship between the vibration suppression and the disturbance rejection. In this paper, an additional integral control approach is introduced to the above-mentioned system for improving the disturbance rejection characteristic. By means of pole assignment design, feedback control coefficients and a contraint relation are explicitly derived. Furthermore, by simplifying the constraint relation, the authors present a pole assignment design method with identical real parts. The domain of the pole assignment is discussed. Finally, the validity of the proposed design has been verified by simulations and experiments
Keywords :
control system analysis; control system synthesis; feedback; pole assignment; position control; robots; three-term control; torque control; vibration control; PID controller; contraint relation; control design; control simulation; disturbance rejection characteristic; feedback control coefficients; integral control approach; joint torque feedback control system; pole assignment design; pole assignment domain; position control system; vibration suppression; AC motors; Bandwidth; Control systems; Design methodology; Electrical equipment industry; Feedback control; Position control; Service robots; Torque control; Vibrations;
Conference_Titel :
Industrial Electronics Society, 1998. IECON '98. Proceedings of the 24th Annual Conference of the IEEE
Conference_Location :
Aachen
Print_ISBN :
0-7803-4503-7
DOI :
10.1109/IECON.1998.724245
