Paper Info
Title
Switching operation mode resonance ratio control for flexible robot system
Abstract
Controlling robot with the mechanical resonance has been receiving increased attention. A new effective control method, a resonance ratio control, has been introduced as a new way to guarantee the robustness and suppress the oscillation during task executions for position and force control system. This work presents a new approach to the controlling of flexible robot system by a switching operation mode resonance ratio control. To calculate the optimal parameters of position/force servoing based on resonance ratio control, a Coefficient Diagram Method (CDM) is employed. In this paper, we introduce a novel approach that automatically adapt algorithm parameters conditional based on the operational tasks. Moreover, a multiencoder based disturbance observer (MEDOB) is shown to estimate the external force on the load side, rather than using a force sensor. The experiments with a linear motor and spring show the validity of the approach. From the experiments, it can reject vibration to improve controlling performance.
Year
DOI
Venue
2013
10.1109/ICMECH.2013.6519105
Mechatronics
Keywords
Field
DocType
force control,force sensors,linear motors,mobile robots,observers,optimal control,oscillations,position control,resonance,springs (mechanical),vibration control,cdm,medob,coefficient diagram method,flexible robot system,force control system,force sensor,linear motor,mechanical resonance,multiencoder based disturbance observer,operational tasks,optimal force servoing parameters,optimal position servoing parameters,oscillation,position control system,robot control,spring,switching operation mode resonance ratio control
Vibration control,Optimal control,Simulation,Control theory,Control engineering,Robustness (computer science),Mechanical resonance,Engineering,Control system,Observer (quantum physics),Coefficient diagram method,Mobile robot
Conference
ISBN
Citations 
PageRank 
978-1-4673-1387-2
2
0.43
References 
Authors
4
3
Name
Order
Citations
PageRank
Mitsantisuk, C.120.43
Kiyoshi Ohishi241571.48
Yokokura, Y.353.05