Akinori Yabuki, T. Kanmachi, K. Ohishi, T. Miyazaki, Y. Yokokura, I. Ando
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Resonant Frequency Damping Disturbance Observer based Robot Servo System
To realize vibration suppression for a three-inertia system, this paper proposes a current control system using resonant frequency damping disturbance observer based robot servo system. The resonance frequency components for achieving vibration suppression is estimated by resonant frequency damping disturbance observer. Through the proposed current control system, vibration suppression is achieved against a three-inertia system. The effectiveness of the proposed method is confirmed through experiments
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