2020
DOI: 10.1541/ieejjia.9.408
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High-Performance Positioning using Decoupling Controllers for Flexible Two-Link Robots with Strain Wave Gears

Abstract: The objective of our research is to develop a high-performance position control system for flexible industrial robots. Compared to traditional industrial manipulators with rigid links and joints, flexible robots are often more difficult to control because of the mechanical vibrations caused by the low-stiffness mechanisms and coupling torques between links. This paper proposes a decoupling control design based on a 2-Degree-of-Freedom (2-DoF) control framework for flexible two-link robots with lightweight link… Show more

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Cited by 12 publications
(2 citation statements)
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“…However, the effectiveness of the proposed strategies has not been verified experimentally. Trung and Iwasaki [101] proposed a decoupling control design based on a 2-DOF control scheme for lightweight links and strain wave gears in flexible two-link robots. The manuscript discussed the issue of resonant vibrations that can deteriorate motion performance.…”
Section: B Dual-linkmentioning
confidence: 99%
“…However, the effectiveness of the proposed strategies has not been verified experimentally. Trung and Iwasaki [101] proposed a decoupling control design based on a 2-DOF control scheme for lightweight links and strain wave gears in flexible two-link robots. The manuscript discussed the issue of resonant vibrations that can deteriorate motion performance.…”
Section: B Dual-linkmentioning
confidence: 99%
“…It includes ideal decoupling, simplified decoupling and inverted decoupling. Among these three kinds of dynamic decoupling, the simplified decoupling only needs two decoupler matrix and is easily implemented in practice [13]. In addition, there are other intelligent decoupling methods, such as adaptive control [14], neural network control [15], and so on.…”
Section: Introductionmentioning
confidence: 99%