Vibration suppression control of 2-mass resonant system for haptic tele-operation

Shutaro Yorozu, Seiichiro Katsura

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

7 Citations (Scopus)

Abstract

Recently, the tele-operation of the robot is needed with getting force information. However, torsional vibration of two-mass resonant system is a serious problem to operate robots. This paper proposes bilateral force feedback control of haptic system with flexibility. In this paper, the system that is twomass resonant system is considered. The resonance control is implemented to the system to reduce vibration. Also, the inverse system is implemented to reject load disturbance. A load disturbance is estimated by load disturbance observer. The proposed control based on conventional PD controller and resonance ratio control. The determination method of pole placement is discussed. The viability of the proposed method is confirmed by some experiments.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages655-660
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

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Keywords

  • 2-Mass resonant system
  • Bilateral control
  • Disturbance observer
  • Electromechanical integration system
  • Haptic energy conversion
  • Real-world haptics

ASJC Scopus subject areas

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

Cite this

Yorozu, S., & Katsura, S. (2010). Vibration suppression control of 2-mass resonant system for haptic tele-operation. In International Workshop on Advanced Motion Control, AMC (pp. 655-660). [5464054] https://doi.org/10.1109/AMC.2010.5464054