Nonlinear Control for L-Shaped Arm Using Central Pattern Generator

Wataru Hirayanagi, Mingcong Deng, Yuichi Noge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In recent years, the weight of the robotic arm has been reduced to achieve high-speed operation in robotic industry. On the other hand, the rigidity of the arm is reduced and the vibration is increased. Its vibration must be suppressed to prevent accuracy in work to be decreased. In this paper, the piezoelectric actuator is used as an actuator to control the vibration of the L-shaped arm. However, hysteresis nonlinearity exists in the piezoelectric actuator. The operator based control system of the L-shaped arm is designed and its stability is confirmed by simulation. Moreover, CPG corresponding to hysteresis nonlinearity is considered and is added to the control system. The effect of vibration suppression is verified by simulation.

Original languageEnglish
Title of host publication2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728168531
DOIs
Publication statusPublished - Oct 30 2020
Externally publishedYes
Event2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020 - Nanjing, China
Duration: Oct 30 2020Nov 2 2020

Publication series

Name2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020

Conference

Conference2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020
CountryChina
CityNanjing
Period10/30/2011/2/20

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Networks and Communications
  • Statistics, Probability and Uncertainty
  • Control and Optimization
  • Sensory Systems

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