TY - GEN
T1 - Friction free bilateral robot based on twin drive control system considering two resonant frequencies
AU - Ohba, Yuzuru
AU - Katsura, Seiichiro
AU - Ohishi, Kiyoshi
PY - 2005/12/1
Y1 - 2005/12/1
N2 - This paper proposes a new friction free bilateral system based on twin drive control system considering it's resonant frequency. The twin drive system consists of two motors that are coupled by the differential gear. The output torque becomes a differential torque of both motors. The nonlinear friction torque of the twin drive system is easily compensated. However, this system has the resonant frequencies and the antiresonant frequencies which are caused by the torsional vibration. This paper proposes a new three-inertial-model of twin drive system, and identities the resonant frequencies and it's friction torque. This paper proposes a new vibration suppression controller for the three-inertial model without high order control system. Therefore, the operationality of bilateral teleoperation is improved by the proposed system.
AB - This paper proposes a new friction free bilateral system based on twin drive control system considering it's resonant frequency. The twin drive system consists of two motors that are coupled by the differential gear. The output torque becomes a differential torque of both motors. The nonlinear friction torque of the twin drive system is easily compensated. However, this system has the resonant frequencies and the antiresonant frequencies which are caused by the torsional vibration. This paper proposes a new three-inertial-model of twin drive system, and identities the resonant frequencies and it's friction torque. This paper proposes a new vibration suppression controller for the three-inertial model without high order control system. Therefore, the operationality of bilateral teleoperation is improved by the proposed system.
UR - http://www.scopus.com/inward/record.url?scp=33749675904&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33749675904&partnerID=8YFLogxK
U2 - 10.1109/IECON.2005.1569215
DO - 10.1109/IECON.2005.1569215
M3 - Conference contribution
AN - SCOPUS:33749675904
SN - 0780392523
SN - 9780780392526
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2023
EP - 2028
BT - IECON 2005
T2 - IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
Y2 - 6 November 2005 through 10 November 2005
ER -