カテゴリ: 論文誌(論文単位)グループ名: 【D】産業応用部門（英文）発行日: 2023/11/01タイトル(英語): Load-side Acceleration Control Based on Single Inertialization Compensator and Jerk Observer for Industrial Robots著者名: Sora Nagao (Nagaoka University of Technology), Yusuke Kawai (National Institute of Technology, Ichinoseki College), Yuki Yokokura (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University著者名(英語): Sora Nagao (Nagaoka University of Technology), Yusuke Kawai (National Institute of Technology, Ichinoseki College), Yuki Yokokura (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University of Technology)キーワード: load-side acceleration control，two-inertia system，acceleration sensor，industrial robot要約(英語): This paper focuses on controlling directly the load-side acceleration to suppress the vibration of the industrial robots, which is modeled as a two-inertia system. This paper proposes a load-side acceleration control based on a single inertialization compensator (SIC) and a jerk observer (JOb). A wideband acceleration sensor capable of acquiring the direct current component is installed on the load side of the experimental equipment. Using this acceleration signal, the single inertialization of a two-inertia system is realized and the JOb is designed. The load-side acceleration control suppresses the resonant vibration of the two-inertia system by designing an acceleration controller using JOb. Two load-side acceleration controller designs are proposed. The effectiveness of these designs is verified by theoretical analysis, simulations, and experiments based on one joint of an industrial robot.本誌: IEEJ Journal of Industry Applications Vol.12 No.6 （2023）本誌掲載ページ: 1034-1045 p原稿種別: 論文／英語電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/12/6/12_22011983/_article/-char/ja/
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