Development and analysis of a wire-based robot with twin direct-drive motor system

Chowarit Mitsantisuk, Kiyoshi Ohishi, Shiro Urushihara, Seiichiro Katsura

Research output: Contribution to journalArticle

Abstract

In this paper, a sensorless wire rope tension control is introduced and analyzed to implement a wire-based robot with twin direct-drive motor system. Two of the same direct-drive motors are required and connected by wire rope mechanism. In the controller design, dual disturbance observers with respect to two control modes, namely the common mode and the differential mode are designed and applied for control of motion and wire rope tension. The wire rope tension in the common mode is controlled in order to regulate the mechanical bandwidth of the system. From the identification results, the high-tension of wire rope system is obtained a high mechanical bandwidth in the robot systems. The disturbance observer-based eliminates the need for the tension sensors, and may also be used to achieve the precise velocity and position control with the vibration-free performance in the differential mode. The effectiveness of the proposed method is verified by experimental results. It is shown that the high frequency responses are obtained by using high-tension of wire rope. The control performance may improve during the robot operation and, therefore, it is useful to compensate for the vibration effect.

Original languageEnglish
Pages (from-to)385-392
Number of pages8
Journalieej transactions on industry applications
Volume130
Issue number3
DOIs
Publication statusPublished - 2010 Apr 23

Keywords

  • Acceleration control
  • Disturbance observer
  • Sensorless force control
  • Tension control
  • Twin direct-drive motor system
  • Vibration suppression

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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