Friction free bilateral robot based on twin drive control system considering two resonant frequencies

Yuzuru Ohba, Seiichiro Katsura, Kiyoshi Ohishi

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

4 Citations (Scopus)

Abstract

This paper proposes a new friction free bilateral system based on twin drive control system considering it's resonant frequency. The twin drive system consists of two motors that are coupled by the differential gear. The output torque becomes a differential torque of both motors. The nonlinear friction torque of the twin drive system is easily compensated. However, this system has the resonant frequencies and the antiresonant frequencies which are caused by the torsional vibration. This paper proposes a new three-inertial-model of twin drive system, and identities the resonant frequencies and it's friction torque. This paper proposes a new vibration suppression controller for the three-inertial model without high order control system. Therefore, the operationality of bilateral teleoperation is improved by the proposed system.

Original languageEnglish
Title of host publicationIECON 2005
Subtitle of host publication31st Annual Conference of IEEE Industrial Electronics Society
Pages2023-2028
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
Externally publishedYes
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
Duration: 2005 Nov 62005 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2005

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
CountryUnited States
CityRaleigh, NC
Period05/11/605/11/10

    Fingerprint

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Ohba, Y., Katsura, S., & Ohishi, K. (2005). Friction free bilateral robot based on twin drive control system considering two resonant frequencies. In IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society (pp. 2023-2028). [1569215] (IECON Proceedings (Industrial Electronics Conference); Vol. 2005). https://doi.org/10.1109/IECON.2005.1569215