Tracking control for industrial robot using notch filtering system with little phase error

Hisashi Kataoka, Toshimasa Miyazaki, Kiyoshi Ohishi, Seiichiro Katsura, Somsawas Tungpataratanawong

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


This paper proposes a new generation method of the position reference having both the vibration suppression performance and fast tracking performance for industrial robots. It is important for industrial robots to drive high speed and high accuracy. In such cases, the vibration phenomenon is generated. Conventionally, the notch filter is used in order to suppress the vibration phenomenon. It is able to eliminate the natural frequency component. However, the reference phase error is generated. The reference phase error causes the locus error in the robot. Therefore, the accuracy of the robot is deteriorated by using the notch filter. The proposed method overcomes this problem by using the compensation gain. The proposed compensation gain is used in order to calculate the reference phase error. The compensation of reference phase error is attained by the feedforward input. The numerical and the experimental results confirm that the proposed method is valid to suppress the vibration phenomenon and improves the phase error.

Original languageEnglish
Pages (from-to)793-801+14
Journalieej transactions on industry applications
Issue number6
Publication statusPublished - 2008
Externally publishedYes


  • Notch filter
  • Phase error
  • Residual vibration
  • Resonant frequency
  • Tracking control
  • Two-inertia resonant system

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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