Servo-system design technique utilising sensitivity as a design parameter

1983 ◽  
Vol 130 (5) ◽  
pp. 209 ◽  
Author(s):  
Y. Kamiya
Keyword(s):  
System Design ◽  
Design Parameter ◽  
Servo System ◽  
Design Technique

MIDETT: Microprogrammed-system design technique and tools

1986 ◽  
Vol 17 (4) ◽  
pp. 15-22
Author(s):  
M. Annunziata ◽  
L. Lisca ◽  
G. R. Sechi
Keyword(s):  
System Design ◽  
Design Technique

Servo System Design Considering Low-Stiffness of Robot

1996 ◽  
Vol 8 (3) ◽  
pp. 252-258 ◽  
Author(s):  
Akira Shimada ◽  
Keyword(s):  
System Design ◽  
Design Method ◽  
Industrial Robot ◽  
Servo System ◽  
The Other ◽  
Special Relation ◽  
Practical Design ◽  
Single Moment ◽  
Industrial Use ◽  
Low Stiffness

This paper describes the practical design method of an advanced servo system for industrial robot manipulators, where it includes a disturbance and velocity observer. It is first assumed that the feature on frequency response of the robot is approximated to the feature of two-mass mechanism. Actually this is confirmed by some experiments. On the other hand, it is insisted that the actual servo system should be simple for industrial use. The observer is designed for the load which has the feature of single moment of inertia. Based on the assumption that there is a difference between these features, it is introduced that the servo system can be effectively used if only the qualified gains are selected considering lowstiffness. The special relation between the frequency analysis and the pole allocations are then shown, and Finally the experimental results are introduced.

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