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- W2716703263 abstract "Almost all industrial robot manipulators consist of rigid components to avoid deformation and vibration. The advantages of flexible robot arms have light weight and low energy consumption but the flexibility make it difficult to control motion of the arms without residual vibrations. For avoiding that, feed-forward control using particle swarm optimization (PSO) and neural network (NN) are applied to reduce residual vibration. However, the feed-forward control is affected from disturbances. For the problem, we combined feed-forward and feed-back control. The digital acceleration control (DAC) combined with PID control (PID-DAC) has been proposed as a robust control method for the nonlinear effects. We applied feed-forward and PID-DAC control for suppressing residual vibration, and made sure of robustness of PID-DAC by experiments." @default.
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- W2716703263 date "2013-01-01" @default.
- W2716703263 modified "2023-10-16" @default.
- W2716703263 title "2P1-K02 Performance Improvement of a Flexible Robot Arm by a Combined Control System of Digital Acceleration Control and Feed-Forward Control(New Control Theory and Motion Control)" @default.
- W2716703263 doi "https://doi.org/10.1299/jsmermd.2013._2p1-k02_1" @default.
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