TY - GEN
T1 - Bilateral control of 3-mass resonant system based on resonance ratio control
AU - Yorozu, Shutaro
AU - Katsura, Seiichiro
PY - 2011/5/18
Y1 - 2011/5/18
N2 - Recently, tele-operation of the robot is needed with getting force information. To realize tele-operation with force feedback, high accuracy force control is essential. However, torsional vibration of multi-mass resonant system is a serious problem to operate robots. Vibration suppression in motion control system is important problem in industry applications. In this paper, the system that is 3-mass resonant system is considered. This paper proposes a bilateral control of 3-mass resonant system. 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 estimation method does not need parameter identification. The determination method of pole placement is discussed. The viability of the proposed method is confirmed by some experiments.
AB - Recently, tele-operation of the robot is needed with getting force information. To realize tele-operation with force feedback, high accuracy force control is essential. However, torsional vibration of multi-mass resonant system is a serious problem to operate robots. Vibration suppression in motion control system is important problem in industry applications. In this paper, the system that is 3-mass resonant system is considered. This paper proposes a bilateral control of 3-mass resonant system. 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 estimation method does not need parameter identification. The determination method of pole placement is discussed. The viability of the proposed method is confirmed by some experiments.
KW - 3-Mass Resonant System
KW - Bilateral Control
KW - Disturbance Observer
KW - Motion Control
UR - http://www.scopus.com/inward/record.url?scp=79955933285&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79955933285&partnerID=8YFLogxK
U2 - 10.1109/ICIT.2011.5754407
DO - 10.1109/ICIT.2011.5754407
M3 - Conference contribution
AN - SCOPUS:79955933285
SN - 9781424490660
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 381
EP - 386
BT - Proceedings - ICIT 2011
T2 - 2011 IEEE International Conference on Industrial Technology, ICIT 2011
Y2 - 14 March 2011 through 16 March 2011
ER -