Resonance ratio control based on coefficient diagram method for force control of flexible robot system
Resonance ratio control based on coefficient diagram method for force control of flexible robot system
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DOI：
10.1109/amc.2012.6197023
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发表时间：
2012-03
期刊：
影响因子：
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通讯作者：
C. Mitsantisuk;M. Nandayapa;K. Ohishi;S. Katsura
中科院分区：
文献类型：
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作者：
C. Mitsantisuk;M. Nandayapa;K. Ohishi;S. Katsura
在机器人系统和智能机器中，齿轮箱或机构与电机连接，将执行器扭矩传输到远处的关节。一般来说，它的弹性会引起系统中的共振频率。通过使用传统的PID控制器，该方法在这种情况下不能很好地发挥作用。许多研究都是为了减少振动而进行的。引入了一种新的有效控制方法，即谐振比控制，作为保证鲁棒性并抑制位置和力控制任务执行期间振荡的新方法。本文提出了两种技术来提高谐振比控制的性能：1）提出了一种新的基于多编码器的扰动观测器（MEDOB）来估计负载侧的扰动力。所提出的观察器不需要确定标称弹簧系数。 2）应用系数图法（CDM）来计算新的增益控制器。新的谐振比增益被提出为2。仿真和实验结果验证了该方法的有效性。
In the robot systems and intelligent machines, the gear-box or mechanisms are connected with the motor to transmit the actuator torque to a distant joint. Generally, its elasticity causes resonance frequency in the system. By using the conventional PID controller, this method cannot perform well in this situation. Much research has proceeded with the aim of reducing vibration. A new effective control method, the resonance ratio control, has been introduced as a new way to guarantee the robustness and suppress the oscillation during task executions for a position and force control. In this paper, two techniques are proposed for improving the performance of resonance ratio control: 1) A new multi encoder based disturbance observer (MEDOB) is shown to estimate the disturbance force on the load side. The proposed observer is not necessary to identify the nominal spring coefficient. 2) A coefficient diagram method (CDM) has been applied to calculate a new gain controller. A new resonance ratio gain has been presented as 2. The effectiveness of the method is verified by simulation and experimental results.