Original scientific paper
https://doi.org/10.7305/automatika.54-1.311
Design for Sensorless Force Control of Flexible Robot by Using Resonance Ratio Control Based on Coefficient Diagram Method
Chowarit Mitsantisuk
; Department of Electrical Engineering, Kasetsart University, 50 Phaholyothin Rd., Ladyao, Jatujak, Bangkok, 10900, Thailand
Manuel Nandayapa
; Department of Industrial and Manufacturing Engineering, Autonomous University of Ciudad Juarez, Ave. del Charro 450 Norte, C.P. 32310. Cd. Juarez, Chihuahua, Mexico
Kiyoshi Ohishi
; Department of Electrical Engineering, Nagaoka University of Technology, 1603-1, Kamitomiokamachi, Nagaoka, Niigata, 940-2188, Japan
Seiichiro Katsura
orcid.org/0000-0002-7487-0610
; Department of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kouhoku-Ku, Yokohama, Kanagawa, Japan
Abstract
Generally, the flexible robot system can be modeled as the two-mass system which consists of a motor and load connected by a spring. Thus, its elasticity causes resonance 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, three techniques are proposed for improving the performance of resonance ratio control. Firstly, 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. Secondly, coefficient diagram method (CDM) has been applied to calculate a new gain of the force controller. A new resonance ratio gain has been presented as 2.0. Finally, the MEDOB and load side disturbance observer (LDOB) are employed to identify a spring coefficient of flexible robot system. By using the proposed identification method, it is simple to identify the spring coefficient and easy to implement in the real flexible robot system. The effectiveness of the proposed identification method is verified by simulation and experimental results.
Keywords
Disturbance observer; Two-mass system; Coefficient diagram method; Resonance ratio control
Hrčak ID:
100195
URI
Publication date:
4.4.2013.
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