Design for sensorless force control of flexible robot by using resonance ratio control based on coefficient diagram method

Chowarit Mitsantisuk, Manuel Nandayapa, Kiyoshi Ohishi, Seiichiro Katsura

Research output: Contribution to journalArticlepeer-review

53 Citations (Scopus)


Generally, the flexible robot system can be modeled as the two-mass system which consists of a motor and load connected by a spring. Thus, its elasticity causes resonance 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, three techniques are proposed for improving the performance of resonance ratio control. Firstly, 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. Secondly, coefficient diagram method (CDM) has been applied to calculate a new gain of the force controller. A new resonance ratio gain has been presented as 2.0. Finally, the MEDOB and load side disturbance observer (LDOB) are employed to identify a spring coefficient of flexible robot system. By using the proposed identification method, it is simple to identify the spring coefficient and easy to implement in the real flexible robot system. The effectiveness of the proposed identification method is verified by simulation and experimental results.

Original languageEnglish
Pages (from-to)62-73
Number of pages12
Issue number1
Publication statusPublished - 2013


  • Coefficient diagram method
  • Disturbance observer
  • Resonance ratio control
  • Two-mass system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Computer Science


Dive into the research topics of 'Design for sensorless force control of flexible robot by using resonance ratio control based on coefficient diagram method'. Together they form a unique fingerprint.

Cite this