A force‐reflecting friction‐free bilateral system based on a twin drive control system with torsional vibration suppression

This paper proposes a new friction-free bilateral system based on twin drive control system considering resonant frequency for bilateral systems. The twin drive system consists of two motors which are coupled by the differential gear. The output torque becomes a different torque of both motors. The nonlinear friction torque of the twin drive system can be easily compensated. However, the resonant frequency and the antiresonant frequency caused by the tensional vibration exist. This paper proposes a new two-mass model of twin drive system that supresses torsional vibration by state feedback. The proposed control method is applied to the bilateral robot, and the effectiveness of the control method is confirmed by the experimental results. © 2007 Wiley Periodicals, Inc. Electr Eng Jpn, 159(1): 72–79, 2007; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.20355

[1]  Dong-Soo Kwon,et al.  Haptic control of the master hand controller for a microsurgical telerobot system , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[2]  Toshiyuki Murakami,et al.  A friction compensation in twin drive system , 2000, 6th International Workshop on Advanced Motion Control. Proceedings (Cat. No.00TH8494).

[3]  H. Iseki,et al.  Basic consideration of vibration suppression and disturbance rejection control of n-inertia system using SFLAC (state feedback and load acceleration control) , 1993, Conference Record of the Power Conversion Conference - Yokohama 1993.

[4]  Takahiro Yakoh,et al.  A sensorless force control in twin drive system , 2000, 2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies.

[5]  K. Shibata,et al.  Torque Sensorless Control of Twin Drive System by Virtual Motor Model , 1994 .