NDLI: Precise position control of robot arms using a homogeneous ER fluid

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Precise position control of robot arms using a homogeneous ER fluid

Content Provider	IEEE Xplore Digital Library
Author	Takesue, N. Guoguang Zhang Furusho, J. Sakaguchi, M.
Copyright Year	1991
Abstract	Semi-closed-loop control of a robot achieves only the control of the angular position of the motor, so it is not clear whether the end-effector is precisely positioned or not. Closed-loop control would improve positioning accuracy, but industrial robots which have elasticity in their driving systems might become unstable easily because of the noncollocated positional relationship between sensors and actuators. This study, which is aimed at realizing high-speed and high-precision closed-loop control, uses an intelligent electrorheological fluid (ER fluid). In the next section, a brief introduction is given with respect to two types of ER fluids and the development of ER dampers. Following this is a description of the experimental apparatus, which consists of an ER damper and a one-link robot arm. A discussion of its mathematical model follows. In addition, the effects of an ER damper to the resonance/antiresonance characteristics of 2-inertia systems are discussed. Next, the design of the hierarchical control system is discussed. Firstly, the design of the inner loop controller for motor velocity control is presented. As an outer loop controller, an H/sup /spl infin// controller is obtained by using a mixed sensitivity design method of robust control theory. Then it is shown that the ER damper makes the design of a high gain controller possible while maintaining robust stability. Finally, the effectiveness of the proposed control method is demonstrated by experiments.
Starting Page	55
Ending Page	61
Page Count	7
File Size	642281
File Format	PDF
ISSN	1066033X
Volume Number	19
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-04-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Position control Manipulators Erbium Service robots Control systems Intelligent sensors Velocity control Robot control Defense industry Electrical equipment industry
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Modeling and Simulation

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