Nonlinear Control for L-Shaped Arm Using Central Pattern Generator

Wataru Hirayanagi, Mingcong Deng, Yuichi Noge

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

1 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781728168531
DOI
出版ステータス出版済み - 10月 30 2020
外部発表はい
イベント2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020 - Nanjing, 中国
継続期間: 10月 30 202011月 2 2020

出版物シリーズ

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

会議

会議2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020
国/地域中国
CityNanjing
Period10/30/2011/2/20

!!!All Science Journal Classification (ASJC) codes

  • 人工知能
  • コンピュータ ネットワークおよび通信
  • 統計学、確率および不確実性
  • 制御と最適化
  • 感覚系

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