A Two-Stage State Feedback Controller Supported by Disturbance-State Observer for Vibration Control of a Flexible-Joint Robot

Abstract

SUMMARYJoint flexibility introduces additional degrees of freedom and vibration modes, thus limiting the performance of the manipulator. To improve control bandwidth, this paper proposes an enhanced two-stage state feedback (SFB) controller, which combines two parts. The first is a SFB loop, which considers the motor position as a virtual control input for the link side dynamics. The second is a disturbance-state observer, which compensates disturbances and reconstructs indirect measurements. Experimental results show the effectiveness of the proposed controller in terms of position tracking, link vibration, and rejection of the kinematic error from the joint’s harmonic drive reducer.

Multimotor Drive Control Method of Upper-Retort-Robot Based on Machine Vision

“…Determine the fuzzy relationship between the three parameters of PID (proportional parameter K D , integral action parameter K I , and derivative action parameter K D ) and the fuzzy relationship between the deviation derivative e c and the control deviation e. During the operation of electrical equipment, continuity testing is performed on e c and e. And based on the principle of fuzzy control, the three PID parameters are repeatedly modified to adapt to the different requirements of different deviation derivatives e c and control deviation e for the three parameters, so that the dynamic and static performance of the controlled object is better [10]. e c and e are the input items of the fuzzy controller, and the three parameters are the output items.…”

“…erefore, at present, manual retort filling and semiautomatic retort filling operations are widely used in domestic retort filling processes. ere are also a few large wineries that utilize fully automatic retort filling processes [10].…”

Multi-motor Drive Control Method of Upper-Retort-Robot Based on Machine Vision

“…Then use the data approximation method to complete the realization of the PID control law in the computer [12]. If there are fewer test items T , use summation instead of integral, use difference quotient instead of derivative, and discretize PID, that is, its transformation expression is as follows:   (10) In formula (10), T represents the number of system startup debugging items, 0,1, 2, k  L . In the process of discretization, if the value of e is too small, the controller will be greatly affected by external interference [13].…”

“…During the operation of electrical equipment, continuity testing is performed on c e and e . And based on the principle of fuzzy control, the three PID parameters are repeatedly modified to adapt to the different requirements of different deviation derivatives c e and control deviation e for the three parameters, so that the dynamic and static performance of the controlled object is better [10]. Define c e and e as the input items of the fuzzy controller, and the three parameters as output items.…”

“…Therefore, at present, manual retort filling and semi-automatic retort filling operations are widely used in domestic retort filling processes. There are also a few large wineries that utilize fully automatic retort filling processes [10]. The automatic upper-retort-robot paving operation mostly adopts the shaking type and the rotary type feeding; the shaking type feeding is based on the design of a general six-axis automatic industrial robot, and the retort paving is based on the shaking of the hopper [11].…”