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

This paper proposes a new friction free bilateral system based on twin drive control system considering it´s resonant frequency. The twin drive system consists of two motors that are coupled by the differential gear. The output torque becomes a differential torque of both motors. The nonlinear friction torque of the twin drive system is easily compensated. However, this system has the resonant frequencies and the anti-resonant frequencies which are caused by the torsional vibration. This paper proposes a new three-inertial-model of twin drive system, and identifies the resonant frequencies and it´s friction torque. This paper proposes a new vibration suppression controller for the three-inertial model without high order control system. Therefore, the operationality of bilateral teleoperation is improved by the proposed system.