Resonance ratio control based on coefficient diagram method for force control of flexible robot system

Chowarit Mitsantisuk, Manuel Nandayapa, Kiyoshi Ohishi, Seiichiro Katsura

研究成果: Conference contribution

12 引用 (Scopus)

抜粋

In the robot systems and intelligent machines, the gear-box or mechanisms are connected with the motor to transmit the actuator torque to a distant joint. Generally, its elasticity causes resonance frequency in the system. By using the conventional PID controller, this method cannot perform well in this situation. Much research has proceeded with the aim of reducing vibration. A new effective control method, the resonance ratio control, has been introduced as a new way to guarantee the robustness and suppress the oscillation during task executions for a position and force control. In this paper, two techniques are proposed for improving the performance of resonance ratio control: 1) A new multi encoder based disturbance observer (MEDOB) is shown to estimate the disturbance force on the load side. The proposed observer is not necessary to identify the nominal spring coefficient. 2) A coefficient diagram method (CDM) has been applied to calculate a new gain controller. A new resonance ratio gain has been presented as 2. The effectiveness of the method is verified by simulation and experimental results.

元の言語English
ホスト出版物のタイトルAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOI
出版物ステータスPublished - 2012 6 4
イベント2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
継続期間: 2012 3 252012 3 27

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
Bosnia and Herzegovina
Sarajevo
期間12/3/2512/3/27

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

これを引用

Mitsantisuk, C., Nandayapa, M., Ohishi, K., & Katsura, S. (2012). Resonance ratio control based on coefficient diagram method for force control of flexible robot system. : Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 [6197023] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2012.6197023