Nonlinear Control for L-Shaped Arm Using Central Pattern Generator

Wataru Hirayanagi, Mingcong Deng, Yuichi Noge

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

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 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 30 202011 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
Country中国
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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