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 of the IEEE International Conference on Industrial Technology
Pages381-386
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Industrial Technology, ICIT 2011 - Auburn, AL, United States
Duration: 2011 Mar 142011 Mar 16

Other

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

Fingerprint

Robots
Force control
Motion control
Poles
Identification (control systems)
Feedback
Control systems
Industry
Experiments

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

Cite this

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

Bilateral control of 3-mass resonant system based on resonance ratio control. / Yorozu, Shutaro; Katsura, Seiichiro.

Proceedings of the IEEE International Conference on Industrial Technology. 2011. p. 381-386 5754407.

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

Yorozu, S & Katsura, S 2011, Bilateral control of 3-mass resonant system based on resonance ratio control. in Proceedings of the IEEE International Conference on Industrial Technology., 5754407, pp. 381-386, 2011 IEEE International Conference on Industrial Technology, ICIT 2011, Auburn, AL, United States, 11/3/14. https://doi.org/10.1109/ICIT.2011.5754407
Yorozu S, Katsura S. Bilateral control of 3-mass resonant system based on resonance ratio control. In Proceedings of the IEEE International Conference on Industrial Technology. 2011. p. 381-386. 5754407 https://doi.org/10.1109/ICIT.2011.5754407
Yorozu, Shutaro ; Katsura, Seiichiro. / Bilateral control of 3-mass resonant system based on resonance ratio control. Proceedings of the IEEE International Conference on Industrial Technology. 2011. pp. 381-386
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