Resonance ratio control based on coefficient diagram method for force control of flexible robot system

Chowarit Mitsantisuk, Manuel Nandayapa, Kiyoshi Ohishi, Seiichiro Katsura

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

11 Citations (Scopus)

Abstract

In the robot systems and intelligent machines, the gear-box or mechanisms are connected with the motor to transmit the actuator torque to a distant joint. Generally, its elasticity causes resonance frequency in the system. By using the conventional PID controller, this method cannot perform well in this situation. Much research has proceeded with the aim of reducing vibration. A new effective control method, the resonance ratio control, has been introduced as a new way to guarantee the robustness and suppress the oscillation during task executions for a position and force control. In this paper, two techniques are proposed for improving the performance of resonance ratio control: 1) A new multi encoder based disturbance observer (MEDOB) is shown to estimate the disturbance force on the load side. The proposed observer is not necessary to identify the nominal spring coefficient. 2) A coefficient diagram method (CDM) has been applied to calculate a new gain controller. A new resonance ratio gain has been presented as 2. The effectiveness of the method is verified by simulation and experimental results.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
DOIs
Publication statusPublished - 2012
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
CountryBosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

Fingerprint

Force Control
Force control
Diagram
Robot
Robots
Coefficient
Disturbance Observer
Gearbox
Controllers
Position Control
Resonance Frequency
PID Controller
Position control
Encoder
Vibrations (mechanical)
Torque
Categorical or nominal
Gears
Elasticity
Observer

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Mitsantisuk, C., Nandayapa, M., Ohishi, K., & Katsura, S. (2012). Resonance ratio control based on coefficient diagram method for force control of flexible robot system. In International Workshop on Advanced Motion Control, AMC [6197023] https://doi.org/10.1109/AMC.2012.6197023

Resonance ratio control based on coefficient diagram method for force control of flexible robot system. / Mitsantisuk, Chowarit; Nandayapa, Manuel; Ohishi, Kiyoshi; Katsura, Seiichiro.

International Workshop on Advanced Motion Control, AMC. 2012. 6197023.

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

Mitsantisuk, C, Nandayapa, M, Ohishi, K & Katsura, S 2012, Resonance ratio control based on coefficient diagram method for force control of flexible robot system. in International Workshop on Advanced Motion Control, AMC., 6197023, 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012, Sarajevo, Bosnia and Herzegovina, 12/3/25. https://doi.org/10.1109/AMC.2012.6197023
Mitsantisuk C, Nandayapa M, Ohishi K, Katsura S. Resonance ratio control based on coefficient diagram method for force control of flexible robot system. In International Workshop on Advanced Motion Control, AMC. 2012. 6197023 https://doi.org/10.1109/AMC.2012.6197023
Mitsantisuk, Chowarit ; Nandayapa, Manuel ; Ohishi, Kiyoshi ; Katsura, Seiichiro. / Resonance ratio control based on coefficient diagram method for force control of flexible robot system. International Workshop on Advanced Motion Control, AMC. 2012.
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