TY - GEN
T1 - Vibration control of flexible system with communication delay using wave compensator
AU - Saito, Eiichi
AU - Katsura, Seiichiro
PY - 2012/6/4
Y1 - 2012/6/4
N2 - Recently, teleoperated robots have been researched for working in ultimate environment actively. Developing performance of teleoperated robots, it will be possible for human to work in such a ultimate environment with safety. However, in the actual case, as gears are used for amplifying output, stiffness of connection part reduces and vibration occurs. Moreover, communication delay causes vibration, too. In addition, in the worst case, the system becomes unstable. Therefore, in this paper, for suppression of the vibration, vibration control using wave compensator is proposed. In the proposal, there are two important control structures. Firstly, reflected wave in the resonant system is eliminated by reflected wave rejection. Transfer function of wave equation without reflected wave is composed of a time delay. Therefore, resonant system can be regarded as time delay system. Next, vibrations from flexible mechanism and communication delay are simultaneously suppressed by wave compensator. Finally, the validity of the proposal is verified by experimental results.
AB - Recently, teleoperated robots have been researched for working in ultimate environment actively. Developing performance of teleoperated robots, it will be possible for human to work in such a ultimate environment with safety. However, in the actual case, as gears are used for amplifying output, stiffness of connection part reduces and vibration occurs. Moreover, communication delay causes vibration, too. In addition, in the worst case, the system becomes unstable. Therefore, in this paper, for suppression of the vibration, vibration control using wave compensator is proposed. In the proposal, there are two important control structures. Firstly, reflected wave in the resonant system is eliminated by reflected wave rejection. Transfer function of wave equation without reflected wave is composed of a time delay. Therefore, resonant system can be regarded as time delay system. Next, vibrations from flexible mechanism and communication delay are simultaneously suppressed by wave compensator. Finally, the validity of the proposal is verified by experimental results.
UR - http://www.scopus.com/inward/record.url?scp=84861649366&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2012.6197091
DO - 10.1109/AMC.2012.6197091
M3 - Conference contribution
AN - SCOPUS:84861649366
SN - 9781457710711
T3 - International Workshop on Advanced Motion Control, AMC
BT - Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
T2 - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
Y2 - 25 March 2012 through 27 March 2012
ER -