Frequency Separation Actuation Resonance Cancellation for vibration suppression control of two-inertia system using double motors

Usually, a humanoid robot using motors has low resonances due to the timing belts at each joint, and the low resonances may deteriorate the response performance and positioning precision. In this paper, a joint of humanoid robot which links the motor side to the load side via timing belt is studied. Regarding this system as a two-inertia system, this paper proposes a novel control method which uses multiple motors in both the motor side and the load side for multi-input-single-output (MISO) system. The proposed method achieves vibration suppression and phase stabilization simultaneously. The implementation is relatively simple since there are only two parameters required in the design. Simulations and experimental results also demonstrate the effectiveness of the proposed control system.