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 Proceedings (Industrial Electronics Conference)
Pages2023-2028
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
Externally publishedYes
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
Duration: 2005 Nov 62005 Nov 10

Other

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

Fingerprint

Natural frequencies
Torque
Robots
Friction
Control systems
Remote control
Gears
Controllers

ASJC Scopus subject areas

  • 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 Proceedings (Industrial Electronics Conference) (Vol. 2005, pp. 2023-2028). [1569215] https://doi.org/10.1109/IECON.2005.1569215

Friction free bilateral robot based on twin drive control system considering two resonant frequencies. / Ohba, Yuzuru; Katsura, Seiichiro; Ohishi, Kiyoshi.

IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. p. 2023-2028 1569215.

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

Ohba, Y, Katsura, S & Ohishi, K 2005, Friction free bilateral robot based on twin drive control system considering two resonant frequencies. in IECON Proceedings (Industrial Electronics Conference). vol. 2005, 1569215, pp. 2023-2028, IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society, Raleigh, NC, United States, 05/11/6. https://doi.org/10.1109/IECON.2005.1569215
Ohba Y, Katsura S, Ohishi K. Friction free bilateral robot based on twin drive control system considering two resonant frequencies. In IECON Proceedings (Industrial Electronics Conference). Vol. 2005. 2005. p. 2023-2028. 1569215 https://doi.org/10.1109/IECON.2005.1569215
Ohba, Yuzuru ; Katsura, Seiichiro ; Ohishi, Kiyoshi. / Friction free bilateral robot based on twin drive control system considering two resonant frequencies. IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. pp. 2023-2028
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