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Vibration Control of an Industrial Robot with a Flexible Arm Using IDCS

  • Kengo Aoki
  • Gentiane Venture
  • Yasutaka Tagawa
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)

Abstract

We propose a fast motion controller for a robot which has a flexible arm using IDCS control scheme. We test IDCS with the controller suitable for vibration suppressing: DMM to the lift table and consider the target tracking of IDCS with suppressing the vibration of the flexible board.

Keywords

Control Object Vibration Control Target Tracking Industrial Robot Inverse Dynamic 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Kengo Aoki
    • 1
  • Gentiane Venture
    • 1
  • Yasutaka Tagawa
    • 1
  1. 1.Tokyo University of Agriculture and TechnologyTokyoJapan

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