NDLI: Vibration suppression control of 2-mass resonant system for haptic tele-operation

Content Provider	IEEE Xplore Digital Library
Author	Yorozu, S. Katsura, S.
Copyright Year	2010
Description	Author affiliation: Dept. of System Design Engineering, Keio University, 3-14-1, Hiyoshi, Kohoku, Yokohama, Kanagawa, 223-8522, Japan (Yorozu, S.; Katsura, S.)
Abstract	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 two-mass 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.
Starting Page	655
Ending Page	660
File Size	1389080
Page Count	6
File Format	PDF
ISBN	9781424466689
ISSN	19436572
e-ISBN	9781424466702
e-ISBN	9781424466696
DOI	10.1109/AMC.2010.5464054
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-03-21
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vibration control Control systems Resonance Haptic interfaces Force control Humans Force feedback Master-slave Orbital robotics Motion control Bilateral control Real-World Haptics Haptic Energy Conversion Electromechanical Integration System 2-Mass Resonant System Disturbance Observer
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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