Position control of 2-DOF resonant system based on modal-space control design

Kohei Torikai, Seiichiro Katsura

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

Abstract

Advanced robotic systems have been developed to realize robot society, a mechanism and a control theory of these systems have been researched for a long time. Due to some advantages such as low cost, safety and weight saving, these systems with a flexible mechanism are required in the future. However, the fast response of such systems which is regarded as a resonant system induces a vibration caused by mechanical resonances. Therefore, a lot of motion control theories for resonant system have been extensively researched to improve motion response, most of these control theories are directed to the state of tip mass. This paper focuses on control theory for the position of middle load mass and the length of a three-mass resonant system, proposes position control theory of 2-DOF resonant system. In this paper, some controllers are designed in modal space, such as the common mode and the differential mode. Generally, since a three-mass resonant system has the 1st resonance and the 2nd resonance, the control target is suppression of two resonances. The 1st resonance is suppressed by differential mode controllers, and the the 2nd resonance is suppressed by common mode controllers in this paper. Experiments verify the effectiveness of the proposed control theory.

Original languageEnglish
Title of host publicationProceedings - 2018 IEEE International Conference on Industrial Technology, ICIT 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages286-291
Number of pages6
Volume2018-February
ISBN (Electronic)9781509059492
DOIs
Publication statusPublished - 2018 Apr 27
Event19th IEEE International Conference on Industrial Technology, ICIT 2018 - Lyon, France
Duration: 2018 Feb 192018 Feb 22

Other

Other19th IEEE International Conference on Industrial Technology, ICIT 2018
CountryFrance
CityLyon
Period18/2/1918/2/22

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ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Torikai, K., & Katsura, S. (2018). Position control of 2-DOF resonant system based on modal-space control design. In Proceedings - 2018 IEEE International Conference on Industrial Technology, ICIT 2018 (Vol. 2018-February, pp. 286-291). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2018.8352191