Title:
OSCILLATION DAMPER
Document Type and Number:
WIPO Patent Application WO/1992/014195
Kind Code:
A1
Abstract:
Oscillation is suppressed by a state feedback in which a special filter is applied to the amount of twist and the speed of twist of a control object such as a robot that has a low-frequency oscillation system. The amount of twist epsilon and the speed of twist epsilon(1) are estimated by an observer (36), and are fed through elements (38 and 39) to an adder (40) where they are added up together, and the added amount is fed back as a state feedback amount F and is subtracted from a speed instruction d. Therefore, a damping term of the transfer function can be independently changed by using a constant K1 to suppress the oscillation. Furthermore, an inertia term is independently changed by using a constant K2 to shorten the time for positioning.
Inventors:
TORII NOBUTOSHI (JP)
NIHEI RYO (JP)
KATO TETSUAKI (JP)
NIHEI RYO (JP)
KATO TETSUAKI (JP)
Application Number:
PCT/JP1992/000120
Publication Date:
August 20, 1992
Filing Date:
February 06, 1992
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
B25J9/10; G05B5/01; G05B13/02; G05B19/19; G05D3/12; G05D19/02; (IPC1-7): G05B13/02
Foreign References:
| JPS5966705A | 1984-04-16 | |||
| JPS6368903A | 1988-03-28 | |||
| JPS6337329B2 | 1988-07-25 | |||
| JPH01296301A | 1989-11-29 | |||
| JPH01157283A | 1989-06-20 |
Other References:
See also references of EP 0523252A4
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