Vibration Control of Painting Robot Arm using Singular Perturbation Method

Autor:	Matsuyama Harukuni, Mitsuru Mizuuchi
Rok vydání:	1994
Předmět:	Vibration Painting Engineering Singular perturbation Computer simulation Control theory business.industry Control system Physics::Atomic and Molecular Clusters Vibration control Harmonic (mathematics) business Robotic arm
Zdroj:	JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN. 29:746-750
ISSN:	1884-4758 0388-3051
DOI:	10.5988/jime1966.29.746
Popis:	In this paper, we study the control of painting robot manipulators with elastic joints. Flexibility in harmonic drives causes the arm top vibration which suffers the painting accuracy. We use the singular perturbation method for the control of this vibration. The effectiveness of this control system is demonstrated in the numerical simulation and experimental reuslt.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::0c8f13ef8b880597d864dfe64cac7bf5 https://doi.org/10.5988/jime1966.29.746 Zobrazit plný text záznamu