Realization of Resonance Ratio Control Focusing on Duality of Torque and Velocity for Two-Inertia System with Environment

Conventionally, the two-inertia system with environment has two resonant frequencies and one anti-resonant frequency. In the case of using resonance ratio control (RRC) for a two-inertia system with environment, it is difficult to determine the resonance ratio. Thus, this paper focuses on the duality between torque and velocity, and a two-spring resonant system is constructed based on motor-side velocity control. In addition, RRC based on motor-side velocity control and load-side velocity observer (LVOB) is proposed, and the duality between the two-inertia resonant system and two-spring resonant system is demonstrated. Finally, load-side torque control based on RRC is confirmed, and that the RRC is the same as conventional RRC. Compared with the RRC of two-inertia system and RRC of two-spring system, a duality is demonstrated, and the effectiveness of the proposed control method is verified through numerical simulation and experiment.

[1]  Yusuke Kosaka,et al.  Cr-N alloy thin-film based torque sensors and joint torque servo systems for compliant robot control , 2013, 2013 IEEE International Conference on Robotics and Automation.

[2]  Alessandro De Luca,et al.  Actuator failure detection and isolation using generalized momenta , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[3]  Alessandro De Luca,et al.  Robot Collisions: A Survey on Detection, Isolation, and Identification , 2017, IEEE Transactions on Robotics.

[4]  Kiyoshi Ohishi,et al.  Smooth Human Interaction Control using Torsion Torque Controller and Motor-side Normalization Compensator Focusing on Back-forward Drivability , 2019, IEEJ Journal of Industry Applications.

[5]  Toshiyuki Murakami,et al.  Vibration Control of a 2 Mass Resonant System by the Resonance Ratio Control , 1993 .

[6]  Kiyoshi Ohishi,et al.  Stable Force Control of Industrial Robot Based on Spring Ratio and Instantaneous State Observer , 2016 .

[7]  Hiroshi Fujimoto,et al.  Precise Joint Torque Control Method for Two-inertia System with Backlash Using Load-side Encoder , 2019, IEEJ Journal of Industry Applications.

[8]  Yoichi Hori.  2-Inertia System Control using Resonance Ratio Control and Manabe Polynomials , 1994 .

[9]  Sami Haddadin,et al.  Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).