TY - GEN
T1 - Position control of middle load point of 2-DOF resonant system
AU - Torikai, Kohei
AU - Katsura, Seiichiro
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/15
Y1 - 2017/12/15
N2 - Advanced robotic systems have been developed to realize robot society, a mechanism and a control theory of these systems have been researched for a long time. Due to the advantages of low cost and safety, these systems with flexible mechanism are required in the future. However, the fast response of such a system which is regarded as a resonant system induces a vibration caused by mechanical resonances. Therefore, motion control theories for resonant systems have been extensively researched to improve motion response, most of these control theories are directed to the state of tip mass. This paper focuses on control theory for the position of arbitrary mass of multi-mass resonant model, proposes position control of 2-DOF resonant system. In this paper, a 2-DOF resonant system is modeled as a superposition of two-mass resonant models. The controller design is based on an assumptions; two actuators independently act on the state of middle mass, which is regarded as load. Therefore, the position control of middle mass of a 2-DOF resonant system is realized. Simulations and experiments verify the effectiveness of the proposed control theory.
AB - Advanced robotic systems have been developed to realize robot society, a mechanism and a control theory of these systems have been researched for a long time. Due to the advantages of low cost and safety, these systems with flexible mechanism are required in the future. However, the fast response of such a system which is regarded as a resonant system induces a vibration caused by mechanical resonances. Therefore, motion control theories for resonant systems have been extensively researched to improve motion response, most of these control theories are directed to the state of tip mass. This paper focuses on control theory for the position of arbitrary mass of multi-mass resonant model, proposes position control of 2-DOF resonant system. In this paper, a 2-DOF resonant system is modeled as a superposition of two-mass resonant models. The controller design is based on an assumptions; two actuators independently act on the state of middle mass, which is regarded as load. Therefore, the position control of middle mass of a 2-DOF resonant system is realized. Simulations and experiments verify the effectiveness of the proposed control theory.
UR - http://www.scopus.com/inward/record.url?scp=85046635211&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85046635211&partnerID=8YFLogxK
U2 - 10.1109/IECON.2017.8217277
DO - 10.1109/IECON.2017.8217277
M3 - Conference contribution
AN - SCOPUS:85046635211
T3 - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
SP - 7294
EP - 7299
BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
Y2 - 29 October 2017 through 1 November 2017
ER -