2 0 0 0 セルフアライニングトルクに基づいた車両走行環境の推定
- 著者
- 山口 陽介 村上 俊之
- 雑誌
- 電気学会研究会資料. IIC, 産業計測制御研究会
- 巻号頁・発行日
- vol.2006, no.16, pp.17-22, 2006-03-08
- 参考文献数
- 10
- 著者
- 林田 宣宏 矢向 高弘 村上 俊之 大西 公平
- 出版者
- 公益社団法人精密工学会
- 雑誌
- 精密工学会誌 (ISSN:09120289)
- 巻号頁・発行日
- vol.67, no.11, pp.1834-1838, 2001-11-05
- 参考文献数
- 5
- 被引用文献数
- 12 13
A bilateral robot is one of the remote control robots. By implementing the force feed back, it is possible for the operator to have the sense of the touch. But the force sensor is affected by unknown disturbance such as its temperature variation and so on. For that reason, it is not expected to use the force sensor at the extreme situation. In the sensorless approach, the reaction torque observer is used. But the reaction observer is easy to be influenced of the friction. This makes it difficult to estimate the external force. To address the above issue, this article proposes a twin drive system. This system is composed of two motors and one differential mechanism. It is required to control two motors for two degrees of freedom. To consider the above issue, two virtual motors are proposed. One is deal with the output control and the other is for friction compensation. The twin drive system brings a sophisticated ability to the system, which is a reduction ability of the friction. By using this system, it is possible to realize the remote control robot, where the operator can feel the obstacle which the slave robot touches. This system may help the remote control work more skillfully. The validity of the proposed method is confirmed by the experimental results.
1 0 0 0 OA 反作用力推定オブザーバに基づいた多自由度ロボットの力センサレスコンプライアンス制御
- 著者
- 村上 俊之 中村 亮 郁 方銘 大西 公平
- 出版者
- The Robotics Society of Japan
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.11, no.5, pp.765-768, 1993-07-15 (Released:2010-08-25)
- 参考文献数
- 6
- 被引用文献数
- 21 68
The paper describes a force sensorless control in multi-degrees-of-fredom robot. In the active com-pliant control, force sensor is attached to the robot to detect the reaction force. However it makes a structure of the robot system complicated. To improve this problem, we propose the force sensorless control strategy based on disturbance observer.First, a basic structure of the dusturbance observer is shown. Then the calculation process of the reaction force is also introduced. Second, the force sensorless compliant controller is constructed. The experimental results are also shown to confirm the validity of the proposed method.
1 0 0 0 共振比制御による2慣性共振系の振動抑制制御
- 著者
- 結城 和明 村上 俊之 大西 公平
- 出版者
- The Institute of Electrical Engineers of Japan
- 雑誌
- 電気学会論文誌D(産業応用部門誌) (ISSN:09136339)
- 巻号頁・発行日
- vol.113, no.10, pp.1162-1169, 1993
- 被引用文献数
- 38 55
Recently, with the progress of robust control techniques, the resonance of mechanical systems becomes a more important problem. This paper presents a position control method to suppress the torsional vibration of a 2 mass resonant system. Here we propose a sensorless control of arm portion. In this case, it is necessary to estimate some states of the arm portion. When motor portion parameters are well known due to several identifications, the reaction torque caused by the shaft torsion can be estimated. This reaction torque feedback makes it possible to control the resonance frequency between the torque current and the motor position. Here, we introduce a new concept which is called "Resonance Ratio". The resonance ratio is determined arbitrarily by the feedback of the reaction torque. The proposed method is a reasonable concept from a mechanical point of view.<br>The proposed control system is based on both the conventional PD control and the resonance ratio control. Then any sensor information of the arm portion is not used, and the proposed controller is a very simple structure. This is one of the remarkable points of the proposed method. We discuss an idea of the determination method of controller gains. The validity of the proposed method is also proved by several experiments.