TY - GEN
T1 - Vibration suppression control of 2-mass resonant system for haptic tele-operation
AU - Yorozu, Shutaro
AU - Katsura, Seiichiro
PY - 2010/6/25
Y1 - 2010/6/25
N2 - Recently, the tele-operation of the robot is needed with getting force information. However, torsional vibration of two-mass resonant system is a serious problem to operate robots. This paper proposes bilateral force feedback control of haptic system with flexibility. In this paper, the system that is twomass resonant system is considered. The resonance control is implemented to the system to reduce vibration. Also, the inverse system is implemented to reject load disturbance. A load disturbance is estimated by load disturbance observer. The proposed control based on conventional PD controller and resonance ratio control. The determination method of pole placement is discussed. The viability of the proposed method is confirmed by some experiments.
AB - Recently, the tele-operation of the robot is needed with getting force information. However, torsional vibration of two-mass resonant system is a serious problem to operate robots. This paper proposes bilateral force feedback control of haptic system with flexibility. In this paper, the system that is twomass resonant system is considered. The resonance control is implemented to the system to reduce vibration. Also, the inverse system is implemented to reject load disturbance. A load disturbance is estimated by load disturbance observer. The proposed control based on conventional PD controller and resonance ratio control. The determination method of pole placement is discussed. The viability of the proposed method is confirmed by some experiments.
KW - 2-Mass resonant system
KW - Bilateral control
KW - Disturbance observer
KW - Electromechanical integration system
KW - Haptic energy conversion
KW - Real-world haptics
UR - http://www.scopus.com/inward/record.url?scp=77953794396&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77953794396&partnerID=8YFLogxK
U2 - 10.1109/AMC.2010.5464054
DO - 10.1109/AMC.2010.5464054
M3 - Conference contribution
AN - SCOPUS:77953794396
SN - 9781424466696
T3 - International Workshop on Advanced Motion Control, AMC
SP - 655
EP - 660
BT - AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
T2 - 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Y2 - 21 March 2010 through 24 March 2010
ER -