TY - GEN
T1 - Vibration suppression motor drive control for industrial robot using notch filter with little phase error
AU - Miyazaki, Toshimasa
AU - Kataoka, Hisashi
AU - Tungpataratanawong, Somsawas
AU - Ohishi, Kiyoshi
AU - Katsura, Seiichiro
PY - 2007
Y1 - 2007
N2 - This paper proposes a new generation method of position reference without the resonant frequency and phase error for industrial robots. It is important for the industrial robot to drive high speed and high accuracy. However, the vibration phenomenon is generated by the resonant frequency in such eases. Conventionally, the notch filter is used to suppress the vibration phenomenon. It is able to eliminate a particular frequency. However, it also has a disadvantage that the reference phase error is generated. Generating the phase error in the reference, the critical error is generated in the locus which the robot draws, 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 compensation gain is used to calculate the reference phase error. The compensation of the reference phase error is performed by the feedforward. The simulation results and the experimental results show that the proposed method is superior to suppress the resonant frequency and improves the phase error.
AB - This paper proposes a new generation method of position reference without the resonant frequency and phase error for industrial robots. It is important for the industrial robot to drive high speed and high accuracy. However, the vibration phenomenon is generated by the resonant frequency in such eases. Conventionally, the notch filter is used to suppress the vibration phenomenon. It is able to eliminate a particular frequency. However, it also has a disadvantage that the reference phase error is generated. Generating the phase error in the reference, the critical error is generated in the locus which the robot draws, 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 compensation gain is used to calculate the reference phase error. The compensation of the reference phase error is performed by the feedforward. The simulation results and the experimental results show that the proposed method is superior to suppress the resonant frequency and improves the phase error.
KW - Notch filter
KW - Phase error
KW - Residual vibration
KW - Resonant frequency
KW - Two-inertia resonant system
UR - http://www.scopus.com/inward/record.url?scp=34748824910&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34748824910&partnerID=8YFLogxK
U2 - 10.1109/PCCON.2007.373181
DO - 10.1109/PCCON.2007.373181
M3 - Conference contribution
AN - SCOPUS:34748824910
SN - 142440844X
SN - 9781424408443
T3 - Fourth Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Conference Proceedings
SP - 1618
EP - 1623
BT - Fourth Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007 - Conference Proceedings
T2 - 4th Power Conversion Conference-NAGOYA, PCC-NAGOYA 2007
Y2 - 2 April 2007 through 5 April 2007
ER -