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

1 Citation (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
Externally publishedYes
Event4th Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Nagoya, Japan
Duration: 2007 Apr 22007 Apr 5

Other

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

Fingerprint

Notch filters
Industrial robots
Natural frequencies
Robots
Error compensation
Vibrations (mechanical)

Keywords

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

ASJC Scopus subject areas

  • Energy(all)
  • Electrical and Electronic Engineering

Cite this

Miyazaki, T., Kataoka, H., Tungpataratanawong, S., Ohishi, K., & Katsura, S. (2007). Vibration suppression motor drive control for industrial robot using notch filter with little phase error. In Fourth Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Conference Proceedings (pp. 1618-1623). [4239371] https://doi.org/10.1109/PCCON.2007.373181

Vibration suppression motor drive control for industrial robot using notch filter with little phase error. / Miyazaki, Toshimasa; Kataoka, Hisashi; Tungpataratanawong, Somsawas; Ohishi, Kiyoshi; Katsura, Seiichiro.

Fourth Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Conference Proceedings. 2007. p. 1618-1623 4239371.

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

Miyazaki, T, Kataoka, H, Tungpataratanawong, S, Ohishi, K & Katsura, S 2007, Vibration suppression motor drive control for industrial robot using notch filter with little phase error. in Fourth Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Conference Proceedings., 4239371, pp. 1618-1623, 4th Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007, Nagoya, Japan, 07/4/2. https://doi.org/10.1109/PCCON.2007.373181
Miyazaki T, Kataoka H, Tungpataratanawong S, Ohishi K, Katsura S. Vibration suppression motor drive control for industrial robot using notch filter with little phase error. In Fourth Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Conference Proceedings. 2007. p. 1618-1623. 4239371 https://doi.org/10.1109/PCCON.2007.373181
Miyazaki, Toshimasa ; Kataoka, Hisashi ; Tungpataratanawong, Somsawas ; Ohishi, Kiyoshi ; Katsura, Seiichiro. / Vibration suppression motor drive control for industrial robot using notch filter with little phase error. Fourth Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Conference Proceedings. 2007. pp. 1618-1623
@inproceedings{dc595687d7934da2b44cdaee36def1dc,
title = "Vibration suppression motor drive control for industrial robot using notch filter with little phase error",
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.",
keywords = "Notch filter, Phase error, Residual vibration, Resonant frequency, Two-inertia resonant system",
author = "Toshimasa Miyazaki and Hisashi Kataoka and Somsawas Tungpataratanawong and Kiyoshi Ohishi and Seiichiro Katsura",
year = "2007",
doi = "10.1109/PCCON.2007.373181",
language = "English",
isbn = "142440844X",
pages = "1618--1623",
booktitle = "Fourth Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Conference Proceedings",

}

TY - GEN

T1 - Vibration suppression motor drive control for industrial robot using notch filter with little phase error

AU - Miyazaki, Toshimasa

AU - Kataoka, Hisashi

AU - Tungpataratanawong, Somsawas

AU - Ohishi, Kiyoshi

AU - Katsura, Seiichiro

PY - 2007

Y1 - 2007

N2 - 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.

AB - 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.

KW - Notch filter

KW - Phase error

KW - Residual vibration

KW - Resonant frequency

KW - Two-inertia resonant system

UR - http://www.scopus.com/inward/record.url?scp=34748824910&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34748824910&partnerID=8YFLogxK

U2 - 10.1109/PCCON.2007.373181

DO - 10.1109/PCCON.2007.373181

M3 - Conference contribution

SN - 142440844X

SN - 9781424408443

SP - 1618

EP - 1623

BT - Fourth Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Conference Proceedings

ER -