Vibration suppression motor drive control for industrial robot using notch filter with little phase error

Toshimasa Miyazaki, Hisashi Kataoka, Somsawas Tungpataratanawong, Kiyoshi Ohishi, Seiichiro Katsura

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

2 Citations (Scopus)

Abstract

This paper proposes a new generation method of position reference without the resonant frequency and phase error for industrial robots. It is important for the industrial robot to drive high speed and high accuracy. However, the vibration phenomenon is generated by the resonant frequency in such eases. Conventionally, the notch filter is used to suppress the vibration phenomenon. It is able to eliminate a particular frequency. However, it also has a disadvantage that the reference phase error is generated. Generating the phase error in the reference, the critical error is generated in the locus which the robot draws, Therefore, the accuracy of the robot is deteriorated by using the notch filter. The proposed method overcomes this problem by using the compensation gain. The compensation gain is used to calculate the reference phase error. The compensation of the reference phase error is performed by the feedforward. The simulation results and the experimental results show that the proposed method is superior to suppress the resonant frequency and improves the phase error.

Original languageEnglish
Title of host publicationFourth Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Conference Proceedings
Pages1618-1623
Number of pages6
DOIs
Publication statusPublished - 2007 Oct 1
Externally publishedYes
Event4th Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Nagoya, Japan
Duration: 2007 Apr 22007 Apr 5

Publication series

NameFourth Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Conference Proceedings

Other

Other4th Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007
CountryJapan
CityNagoya
Period07/4/207/4/5

Keywords

  • Notch filter
  • Phase error
  • Residual vibration
  • Resonant frequency
  • Two-inertia resonant system

ASJC Scopus subject areas

  • Energy(all)
  • Electrical and Electronic Engineering

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