Vibration control of flexible system with communication delay using wave compensator

Recently, teleoperated robots have been researched for working in ultimate environment actively. Developing performance of teleoperated robots, it will be possible for human to work in such a ultimate environment with safety. However, in the actual case, as gears are used for amplifying output, stiffness of connection part reduces and vibration occurs. Moreover, communication delay causes vibration, too. In addition, in the worst case, the system becomes unstable. Therefore, in this paper, for suppression of the vibration, vibration control using wave compensator is proposed. In the proposal, there are two important control structures. Firstly, reflected wave in the resonant system is eliminated by reflected wave rejection. Transfer function of wave equation without reflected wave is composed of a time delay. Therefore, resonant system can be regarded as time delay system. Next, vibrations from flexible mechanism and communication delay are simultaneously suppressed by wave compensator. Finally, the validity of the proposal is verified by experimental results.