Friction free bilateral robot based on twin drive control system considering resonant frequency

Author

Ohba, Yuzuru ; Ohishi, Kiyoshi

Author_Institution

Nagaoka Univ. of Technol., Niigata, Japan

Volume

3

fYear

2004

fDate

2-6 Nov. 2004

Firstpage

2511

Abstract

This paper proposes a new friction free bilateral robot based on twin drive control system considering resonant frequency. 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 twin drive system can be easily compensated. However, as this system is constructed by the planetary gear and the differential gear, this system has the mechanical resonant frequency. Hence, it often has the tensional vibration. In order to overcome this problem, this paper proposes a new two-mass-model of twin drive system, and identifies these mechanical parameters and the friction torque. Moreover, this paper realizes a fine friction free bilateral control system considering its resonant frequency.

Keywords

gears; mobile robots; motor drives; nonlinear control systems; torque control; vibration control; differential gear; friction free bilateral robots; mechanical parameters; mechanical resonant frequency; motor drive system; nonlinear friction torque; planetary gear; tensional vibration; twin drive control system; two-mass-model system; Control systems; Force feedback; Force sensors; Friction; Gears; Resonant frequency; Robots; Servomechanisms; Springs; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE

Print_ISBN

0-7803-8730-9

Type

conf

DOI

10.1109/IECON.2004.1432196

Filename

1432196