DocumentCode
3440234
Title
Trajectory generation of industrial mechatronic systems to achieve accurate contour control performance under torque saturation
Author
Goto, Satoru ; Nakamura, Masatoshi ; Kyura, Nobuhiro
Author_Institution
Dept. of Electr. Eng., Saga Univ., Japan
Volume
3
fYear
1995
fDate
21-27 May 1995
Firstpage
2401
Abstract
Torque saturation impairs the contour control performance of industrial mechatronic systems. A method of trajectory generation and inverse dynamics compensation for contour control was developed by taking into account the torque constraint of mechatronic servo systems. The proposed method gives accurate contour control performance: the assigned working accuracy within the torque constraint
Keywords
mechatronics; servomechanisms; torque; contour control; inverse dynamics compensation; mechatronic servo systems; mechatronic systems; torque saturation; trajectory generation; Control systems; Defense industry; Electrical equipment industry; Industrial control; Machinery production industries; Mechatronics; Service robots; Servomechanisms; Servomotors; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525619
Filename
525619
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