Bilateral control of 3-mass resonant system based on resonance ratio control

Shutaro Yorozu, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Recently, tele-operation of the robot is needed with getting force information. To realize tele-operation with force feedback, high accuracy force control is essential. However, torsional vibration of multi-mass resonant system is a serious problem to operate robots. Vibration suppression in motion control system is important problem in industry applications. In this paper, the system that is 3-mass resonant system is considered. This paper proposes a bilateral control of 3-mass resonant system. The resonance control is implemented to the system to reduce vibration. Also, the inverse system is implemented to reject load disturbance. A load disturbance is estimated by load disturbance observer. The estimation method does not need parameter identification. The determination method of pole placement is discussed. The viability of the proposed method is confirmed by some experiments.

Original languageEnglish
Title of host publicationProceedings - ICIT 2011
Subtitle of host publication2011 IEEE International Conference on Industrial Technology
Pages381-386
Number of pages6
DOIs
Publication statusPublished - 2011 May 18
Event2011 IEEE International Conference on Industrial Technology, ICIT 2011 - Auburn, AL, United States
Duration: 2011 Mar 142011 Mar 16

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2011 IEEE International Conference on Industrial Technology, ICIT 2011
CountryUnited States
CityAuburn, AL
Period11/3/1411/3/16

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Keywords

  • 3-Mass Resonant System
  • Bilateral Control
  • Disturbance Observer
  • Motion Control

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Yorozu, S., & Katsura, S. (2011). Bilateral control of 3-mass resonant system based on resonance ratio control. In Proceedings - ICIT 2011: 2011 IEEE International Conference on Industrial Technology (pp. 381-386). [5754407] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2011.5754407