Force servoing by flexible manipulator based on resonance ratio control

Seiichiro Katsura, Kouhei Ohnishi

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

This paper presents a force servoing control method to suppress torsional vibration of two-mass resonant system. The resonance ratio control is one of the effective control methods of two-mass resonant system. In this method, the ratio between the resonant frequency of motor and arm is determined arbitrary according to the feedback of estimated reaction torque. The reaction torque is estimated by using position sensitive detector (PSD). Since the estimation method does not need the parameter identification, the torsion information is obtained with accuracy. To attain the affinity and adaptability to environment, motion systems should control the reaction torque from the environment. In the force servoing system, the force command is given as a disturbance of the arm portion. The arm disturbance is observed by the arm disturbance observer. The proposed force servoing system is based on both the conventional PD control and the resonance ratio control and the determination method of pole placement is discussed. The proposed force servoing system can realize both the suppression of the inner torsional reaction torque and the adaptation to unknown outer force inputs. The numerical and experimental results show viability of the proposed method.

本文言語English
ホスト出版物のタイトルProceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
ページ1343-1348
ページ数6
DOI
出版ステータスPublished - 2005 12月 1
イベントIEEE International Symposium on Industrial Electronics 2005, ISIE 2005 - Dubrovnik, Croatia
継続期間: 2005 6月 202005 6月 23

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics
IV

Other

OtherIEEE International Symposium on Industrial Electronics 2005, ISIE 2005
国/地域Croatia
CityDubrovnik
Period05/6/2005/6/23

ASJC Scopus subject areas

  • 電子工学および電気工学

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