Title:
DAMPING CONTROL SYSTEM
Document Type and Number:
Japanese Patent JPH04255007
Kind Code:
A
Abstract:
PURPOSE:To suppress the oscillation of a control target such as a robot having a low frequency oscillation system by status feedback for specifically filtering a twist variable and a twist speed. CONSTITUTION:A twist variable epsilon and a twist speed epsilon<(1)> are estimated by an observer 36 and added by an adder 40 through respective elements 38, 39 and the added value is fed back as a status feedback value F and then subtracted from a speed command thetad. Consequently the damping term of a transmission function can be independently changed by a constant K1 and damping can be suppressed. In addition, a positioning time can be shortened by independently changing an inertia term by a constant K2.
Inventors:
TORII NOBUTOSHI
NIHEI AKIRA
KATO TETSURO
NIHEI AKIRA
KATO TETSURO
Application Number:
JP3689991A
Publication Date:
September 10, 1992
Filing Date:
February 06, 1991
Export Citation:
Assignee:
FANUC LTD
International Classes:
B25J9/10; G05B5/01; G05B13/02; G05B19/19; G05D3/12; G05D19/02; (IPC1-7): B25J9/10; G05D3/12; G05D19/02
Attorney, Agent or Firm:
Hattori Takeshi