Abstract
Motion control is a fundamental technique used in automated mechanical systems. Classically, velocity, force, and impedance are controlled in motion control systems, but simultaneous control is difficult. This article proposes periodic/aperiodic (P/A) motion control based on periodicity and aperiodicity of motion. The P/A motion control separately applies different control methods to P/A motions using P/A velocity and P/A force, which are extracted using a periodic/aperiodic separation filter (PASF) from velocity and force. Accordingly, six types of P/A motion controls are constructed in this article, which correspond to different combinations of the P/A velocity, P/A force, and P/A impedance controls. To construct the P/A motion control systems, acceleration control based on a disturbance observer is used. The ACS, which rejects disturbances, enables the P/A motion control design to ignore disturbances. The experiments were conducted to validate the six P/A motion controls, which simultaneously realized two P/A motion control objectives.
Highlights
M ECHATRONICS and robotics systems have been widely used in industrial and human support applications
This article achieved the simultaneous realization of two P/A motion control objectives with one degree-of-control-freedom
A P/A motion control scheme was proposed by utilizing periodicity and aperiodicity of motion, in which the periodic/aperiodic separation filter (PASF) separated motion into P/A motions
Summary
M ECHATRONICS and robotics systems have been widely used in industrial and human support applications. Because the majority of requirements of these systems are related to their physical functioning, motion controls have been studied [1]–[6]. Motion control studies typically focus on one or some motion characteristics, such as position, velocity, acceleration, or force. One degree-of-control-freedom can inherently achieve a single motion control objective, where the degree-of-control-freedom is the number of controllable actuators or axes in this article. Velocity control, which does not consider force, risks breaking environments owing to unlimited force in a contact situation. These examples indicate the tradeoff between the velocity and force controls. That is not as extreme as either the velocity or force
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