Bilateral control of 3-mass resonant system based on resonance ratio control

Shutaro Yorozu, Seiichiro Katsura

研究成果: Conference contribution

抄録

Recently, tele-operation of the robot is needed with getting force information. To realize tele-operation with force feedback, high accuracy force control is essential. However, torsional vibration of multi-mass resonant system is a serious problem to operate robots. Vibration suppression in motion control system is important problem in industry applications. In this paper, the system that is 3-mass resonant system is considered. This paper proposes a bilateral control of 3-mass resonant system. 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 estimation method does not need parameter identification. The determination method of pole placement is discussed. The viability of the proposed method is confirmed by some experiments.

本文言語English
ホスト出版物のタイトルProceedings - ICIT 2011
ホスト出版物のサブタイトル2011 IEEE International Conference on Industrial Technology
ページ381-386
ページ数6
DOI
出版ステータスPublished - 2011 5 18
イベント2011 IEEE International Conference on Industrial Technology, ICIT 2011 - Auburn, AL, United States
継続期間: 2011 3 142011 3 16

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

Other2011 IEEE International Conference on Industrial Technology, ICIT 2011
国/地域United States
CityAuburn, AL
Period11/3/1411/3/16

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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