Force servoing by flexible manipulator based on resonance ratio control

Seiichiro Katsura, Kouhei Ohnishi

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

11 Citations (Scopus)

Abstract

This paper presents a force servoing control method to suppress torsional vibration of two-mass resonant system. The resonance ratio control is one of the effective control methods of two-mass resonant system. In this method, the ratio between the resonant frequency of motor and arm is determined arbitrary according to the feedback of estimated reaction torque. The reaction torque is estimated by using position sensitive detector (PSD). Since the estimation method does not need the parameter identification, the torsion information is obtained with accuracy. To attain the affinity and adaptability to environment, motion systems should control the reaction torque from the environment. In the force servoing system, the force command is given as a disturbance of the arm portion. The arm disturbance is observed by the arm disturbance observer. The proposed force servoing system is based on both the conventional PD control and the resonance ratio control and the determination method of pole placement is discussed. The proposed force servoing system can realize both the suppression of the inner torsional reaction torque and the adaptation to unknown outer force inputs. The numerical and experimental results show viability of the proposed method.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
Pages1343-1348
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
EventIEEE International Symposium on Industrial Electronics 2005, ISIE 2005 - Dubrovnik, Croatia
Duration: 2005 Jun 202005 Jun 23

Publication series

NameIEEE International Symposium on Industrial Electronics
VolumeIV

Other

OtherIEEE International Symposium on Industrial Electronics 2005, ISIE 2005
CountryCroatia
CityDubrovnik
Period05/6/2005/6/23

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Katsura, S., & Ohnishi, K. (2005). Force servoing by flexible manipulator based on resonance ratio control. In Proceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005 (pp. 1343-1348). [1529127] (IEEE International Symposium on Industrial Electronics; Vol. IV). https://doi.org/10.1109/ISIE.2005.1529127