Design of disturbance reduction control for periodic motion based on error analysis using sensitivity
The arc welding robot uses a weaving motion that periodically oscillates the welding torch installed at the tip of the robot. The weaving motion is used for the arc sensor to follow the weld fusion line, and the error of the oscillation has large effects on the finished shape of the weld metal, so t...
| Main Authors: | , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2022-09-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/88/913/88_22-00088/_pdf/-char/en |