Friction free bilateral robot based on twin drive control system considering two resonant frequencies

Yuzuru Ohba; Seiichiro Katsura; Kiyoshi Ohishi

doi:10.1109/IECON.2005.1569215

Friction free bilateral robot based on twin drive control system considering two resonant frequencies

Yuzuru Ohba, Seiichiro Katsura, Kiyoshi Ohishi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	IECON 2005
Subtitle of host publication	31st Annual Conference of IEEE Industrial Electronics Society
Pages	2023-2028
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2005.1569215
Publication status	Published - 2005
Externally published	Yes
Event	IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States Duration: 2005 Nov 6 → 2005 Nov 10

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
Volume	2005

Other

Other	IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
Country/Territory	United States
City	Raleigh, NC
Period	05/11/6 → 05/11/10

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2005.1569215

Cite this

Friction free bilateral robot based on twin drive control system considering two resonant frequencies. / Ohba, Yuzuru; Katsura, Seiichiro; Ohishi, Kiyoshi.
IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society. 2005. p. 2023-2028 1569215 (IECON Proceedings (Industrial Electronics Conference); Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ohba, Y, Katsura, S & Ohishi, K 2005, Friction free bilateral robot based on twin drive control system considering two resonant frequencies. in IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society., 1569215, IECON Proceedings (Industrial Electronics Conference), vol. 2005, pp. 2023-2028, IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society, Raleigh, NC, United States, 05/11/6. https://doi.org/10.1109/IECON.2005.1569215

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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.

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Friction free bilateral robot based on twin drive control system considering two resonant frequencies

Abstract

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