Vibration suppression control of 2-mass resonant system for haptic tele-operation

Shutaro Yorozu, Seiichiro Katsura

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

Recently, the tele-operation of the robot is needed with getting force information. However, torsional vibration of two-mass resonant system is a serious problem to operate robots. This paper proposes bilateral force feedback control of haptic system with flexibility. In this paper, the system that is twomass resonant system is considered. 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 proposed control based on conventional PD controller and resonance ratio control. 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AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
ページ655-660
ページ数6
DOI
出版ステータスPublished - 2010 6 25
イベント2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
継続期間: 2010 3 212010 3 24

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
国/地域Japan
CityNagaoka, Niigata
Period10/3/2110/3/24

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • 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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