scholarly journals Continuous path control of direct drive motors based on disturbance observer.

1990 ◽  
Vol 110 (11) ◽  
pp. 1141-1146 ◽  
Author(s):  
Satoshi Komada ◽  
Muneaki Ishida ◽  
Takamasa Hori
Keyword(s):  
Disturbance Observer ◽  
Continuous Path ◽  
Direct Drive ◽  
Path Control

Disturbance observer-based motion control of direct drive motors

1991 ◽  
Vol 6 (3) ◽  
pp. 553-559 ◽  
Author(s):  
S. Komada ◽  
M. Ishida ◽  
K. Ohnishi ◽  
T. Hori
Keyword(s):  
Motion Control ◽  
Disturbance Observer ◽  
Direct Drive

Design and Control of Planar Parallel Mechanisms with High Speed and High Precision

2006 ◽  
Vol 315-316 ◽  
pp. 872-0
Author(s):  
L.N. Sun ◽  
Y.J. Liu ◽  
J. Li ◽  
J. Cui
Keyword(s):  
High Precision ◽  
Disturbance Observer ◽  
High Speed ◽  
Optimization Design ◽  
Advanced Manufacturing ◽  
Parallel Mechanisms ◽  
Direct Drive ◽  
End Effector ◽  
Load Disturbance ◽  
And Control

In order to satisfy the requirement of advanced manufacturing equipments with high speed and high precision, two planar parallel mechanisms have been developed. Based on these mechanisms, firstly, in consideration with the velocity and the precision of the end-effector together, the dimension optimization design is performed based on conditioning index and the precision characteristics. Then a disturbance observer is designed for the purpose of restraining load disturbance in the direct-drive system, and the experimental results show that load disturbance can be effectively restrained by the disturbance observer.

Continuous path control of a 5-DOF parallel-serial hybrid robot

2010 ◽  
Vol 24 (1) ◽  
pp. 47-50 ◽  
Author(s):  
Takuma Uchiyama ◽  
Hidetsugu Terada ◽  
Hironori Mitsuya
Keyword(s):  
Continuous Path ◽  
Path Control
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