Vibration control of flexible system with communication delay using wave compensator

Eiichi Saito, Seiichiro Katsura

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

2 Citations (Scopus)

Abstract

Recently, teleoperated robots have been researched for working in ultimate environment actively. Developing performance of teleoperated robots, it will be possible for human to work in such a ultimate environment with safety. However, in the actual case, as gears are used for amplifying output, stiffness of connection part reduces and vibration occurs. Moreover, communication delay causes vibration, too. In addition, in the worst case, the system becomes unstable. Therefore, in this paper, for suppression of the vibration, vibration control using wave compensator is proposed. In the proposal, there are two important control structures. Firstly, reflected wave in the resonant system is eliminated by reflected wave rejection. Transfer function of wave equation without reflected wave is composed of a time delay. Therefore, resonant system can be regarded as time delay system. Next, vibrations from flexible mechanism and communication delay are simultaneously suppressed by wave compensator. Finally, the validity of the proposal is verified by experimental results.

Original languageEnglish
Title of host publicationAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOIs
Publication statusPublished - 2012 Jun 4
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

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

ASJC Scopus subject areas

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

Fingerprint Dive into the research topics of 'Vibration control of flexible system with communication delay using wave compensator'. Together they form a unique fingerprint.

  • Cite this

    Saito, E., & Katsura, S. (2012). Vibration control of flexible system with communication delay using wave compensator. In Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 [6197091] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2012.6197091