Friction free force-reflecting type bilateral control based on twin drive system considering 2nd resonant frequency and unbalance friction

Yuzuru Ohba, Kiyoshi Ohishi, Seiichiro Katsura

Research output: Contribution to journalArticle

2 Citations (Scopus)


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 anti-resonant frequencies which are caused by the torsional vibration. This paper proposes a new three-inertial-model of twin drive system, and identifies the resonant frequencies and it's friction torque. The proposed controller can suppress the torsional vibration without high order control design. Therefore, the operationality of bilateral teleoperation is improved by the proposed system.

Original languageEnglish
Pages (from-to)1227-1235+9
Journalieej transactions on industry applications
Issue number9
Publication statusPublished - 2006 Sep 18



  • Bilateral control
  • Coefficient diagram method
  • Force-feedback type
  • Friction free system
  • Multi-inertia system
  • Reaction force estimation observer
  • Twin drive system

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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