Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : November 07, 2007 - November 09, 2007
In this report, the dynamic characteristics are identified by real-time calculation as the second regression function. The proposed control method is realized the real-time compensation of positioning. The compensated output is suppressed to 50% of trajectory error of the conventional PID control without identifying the parameters previously. Moreover by giving only the friction to the servomotor, the friction force is measured. The friction correction is applied to a real-time inverse transfer function method considering the dynamic behavior . The result by our method shows the considerable reduction of stick motion.
