The motor speed and the vibration acceleration at the

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electric accelerometer is attached to the end-effector. The motor speed and the vibration acceleration at the end-effector are measured with an oscilloscope. Fig. 12 shows the suppression effect on the resid- ual vibration in the case of Posture1. Fig. 12 shows that the settling time can be shortened down to about 1/2 (starting: from 659 to 318 ms, stopping: from 424 to 219 ms) by using the proposed model-based con- trol. Besides, Fig. 13 shows the suppression effect on the residual vibration in the case of Posture 2. Fig. 13 shows that the settling time can be shortened down to about 1/2 (starting: from 386 to 193 ms) by using the proposed model-based control. 5. CONCLUSIONS A model-based control has been proposed as a technique of eliminating the residual vibration gener- ated at a final stage of loading. This control model is
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International Journal of Control, Automation, and Systems Vol. 1, No. 3, September 2003 270 composed of electrical and mechanical parts of the velocity control loop. This control model can be ob- tained from design or experimental data. In addition, its algorithm is easily installed in a DSP. In the previous study [6], the proposed model- based control was applied to a drum driving servo system, and the effectiveness of this technique was verified. This case is a typical example such that the inertia ratio of the driven machine part to the driving machine part is less than 1.0, and the value of the gain K b for the model-based control is positive. In this paper, this control technique is applied to a waist axis of an articulated robot which is composed of a harmonic drive gear reducer whose reduction ratio is 1/100. This case is a typical example such that the inertia ratio of the driven machine part to the driving machine part is greater than 1.0, and the value of the gain K b is negative. Simulations and experi- ments on the time responses show satisfactory control results in reducing the transient vibration of the end- effector. In other words, the settling time can be shortened down to about 1/2 of the uncompensated level. REFERENCES [1] S. Futami, N. Kyura, and S. Hara, “Vibration ab- sorption control of industrial robots by accelera- tion feedback,” IEEE Trans. on Industrial Electronics , vol. 30, no. 3, pp. 299-305, August tronics , vol. 30, no. 3, pp. 299-305, August 1983. [2] K. Yuki, T. Murakami, and K. Ohnishi, “Vibra- tion control of a 2-mass resonant system by the resonance ratio control,” Trans. IEE Japan , vol. 113(D), no. 10, pp. 1162-1169, 1993 (In Japa- nese). [3] K. Honke, Y. Inoue, Y. Nishida, and T. Nishi- mura, “Motion and vibration control for robot arm with elastic joint (application of disturbance observer including elastic vibration),” Trans. Jpn. Soc. Mech. Eng. , vol. 60(C), no. 577, pp. 3045-3050, 1994 (In Japanese). [4] I. Godler, K. Ohnishi, and T. Yamashita, “Vibra- tion suppression for a speed control system with gear,” Journal of the Jpn. Soc. Precision Eng. , vol. 60, no. 1, pp. 86-90, 1994 (In Japanese).
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