Abstract
Generally, the flexible robot system can be modeled as the two-mass system which consists of a motor and load connected by a spring. Thus, its elasticity causes resonance in the system. By using the conventional PID controller, this method cannot perform well in this situation. Much research has proceeded with the aim of reducing vibration. A new effective control method, the resonance ratio control, has been introduced as a new way to guarantee the robustness and suppress the oscillation during task executions for a position and force control. In this paper, three techniques are proposed for improving the performance of resonance ratio control. Firstly, a new multi encoder based disturbance observer (MEDOB) is shown to estimate the disturbance force on the load side. The proposed observer is not necessary to identify the nominal spring coefficient. Secondly, coefficient diagram method (CDM) has been applied to calculate a new gain of the force controller. A new resonance ratio gain has been presented as 2.0. Finally, the MEDOB and load side disturbance observer (LDOB) are employed to identify a spring coefficient of flexible robot system. By using the proposed identification method, it is simple to identify the spring coefficient and easy to implement in the real flexible robot system. The effectiveness of the proposed identification method is verified by simulation and experimental results.
| Original language | Undefined/Unknown |
|---|---|
| Pages (from-to) | 62-73 |
| Number of pages | 12 |
| Journal | Automatika |
| Volume | 54 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 2013 |
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Keywords
- Coefficient diagram method
- Disturbance observer
- Resonance ratio control
- Two-mass system
ASJC Scopus subject areas
- Computer Science(all)
- Control and Systems Engineering
Cite this
Sinteza bezsenzornog upravljanja silom za fleksibilnog robota korištenjem upravljanja omjerom rezonancija temeljenim na metodi koeficijentnog dijagrama. / Mitsantisuk, Chowarit; Nandayapa, Manuel; Ohishi, Kiyoshi; Katsura, Seiichiro.
In: Automatika, Vol. 54, No. 1, 2013, p. 62-73.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Sinteza bezsenzornog upravljanja silom za fleksibilnog robota korištenjem upravljanja omjerom rezonancija temeljenim na metodi koeficijentnog dijagrama
AU - Mitsantisuk, Chowarit
AU - Nandayapa, Manuel
AU - Ohishi, Kiyoshi
AU - Katsura, Seiichiro
PY - 2013
Y1 - 2013
N2 - Generally, the flexible robot system can be modeled as the two-mass system which consists of a motor and load connected by a spring. Thus, its elasticity causes resonance in the system. By using the conventional PID controller, this method cannot perform well in this situation. Much research has proceeded with the aim of reducing vibration. A new effective control method, the resonance ratio control, has been introduced as a new way to guarantee the robustness and suppress the oscillation during task executions for a position and force control. In this paper, three techniques are proposed for improving the performance of resonance ratio control. Firstly, a new multi encoder based disturbance observer (MEDOB) is shown to estimate the disturbance force on the load side. The proposed observer is not necessary to identify the nominal spring coefficient. Secondly, coefficient diagram method (CDM) has been applied to calculate a new gain of the force controller. A new resonance ratio gain has been presented as 2.0. Finally, the MEDOB and load side disturbance observer (LDOB) are employed to identify a spring coefficient of flexible robot system. By using the proposed identification method, it is simple to identify the spring coefficient and easy to implement in the real flexible robot system. The effectiveness of the proposed identification method is verified by simulation and experimental results.
AB - Generally, the flexible robot system can be modeled as the two-mass system which consists of a motor and load connected by a spring. Thus, its elasticity causes resonance in the system. By using the conventional PID controller, this method cannot perform well in this situation. Much research has proceeded with the aim of reducing vibration. A new effective control method, the resonance ratio control, has been introduced as a new way to guarantee the robustness and suppress the oscillation during task executions for a position and force control. In this paper, three techniques are proposed for improving the performance of resonance ratio control. Firstly, a new multi encoder based disturbance observer (MEDOB) is shown to estimate the disturbance force on the load side. The proposed observer is not necessary to identify the nominal spring coefficient. Secondly, coefficient diagram method (CDM) has been applied to calculate a new gain of the force controller. A new resonance ratio gain has been presented as 2.0. Finally, the MEDOB and load side disturbance observer (LDOB) are employed to identify a spring coefficient of flexible robot system. By using the proposed identification method, it is simple to identify the spring coefficient and easy to implement in the real flexible robot system. The effectiveness of the proposed identification method is verified by simulation and experimental results.
KW - Coefficient diagram method
KW - Disturbance observer
KW - Resonance ratio control
KW - Two-mass system
UR - http://www.scopus.com/inward/record.url?scp=84875702636&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84875702636&partnerID=8YFLogxK
U2 - 10.7305/automatika.54-1.311
DO - 10.7305/automatika.54-1.311
M3 - Article
AN - SCOPUS:84875702636
VL - 54
SP - 62
EP - 73
JO - Automatika
JF - Automatika
SN - 0005-1144
IS - 1
ER -