IEEJ Journal of Industry Applications
Online ISSN : 2187-1108
Print ISSN : 2187-1094
ISSN-L : 2187-1094
Letter
High-performance Load Torque Compensation of Industrial Robot using Kalman-filter-based Instantaneous State Observer
Takashi YoshiokaThao Tran PhuongAkinori YabukiKiyoshi OhishiToshimasa MiyazakiYuki Yokokura
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2015 Volume 4 Issue 5 Pages 589-590

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Abstract

Robust motion control against dynamic torque is required for rapid and precise motion control of industrial robots. In this regard, a disturbance observer (DOB) is widely used to achieve robust motion control. In general, it is difficult to achieve robust motion control against a step load torque because the DOB exhibits an estimation delay. To overcome this problem, this paper proposes a new method involving the use of a Kalman-filter-based instantaneous state observer for load torque compensation. The proposed method achieves the instantaneous load torque estimation of a two-inertia system using a load-side acceleration sensor. Torque compensation based on instantaneous torque estimation is highly robust against the insertion of a step load torque. The effectiveness of the proposed method is confirmed by performing both a numerical simulation and experiments using an industrial robot arm.

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© 2015 The Institute of Electrical Engineers of Japan
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