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

摘要

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.