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

Author

Ohba, Yuzunr ; Ohishi, Kiyoshi

Author_Institution

Dept. of Electr. Eng., Nagaoka Univ. of Technol., Niigata, Japan

fYear

2004

fDate

25-28 March 2004

Firstpage

205

Lastpage

210

Abstract

This paper proposes a new friction free bilateral system based on twin drive control system considering resonant frequency for haptics. 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

friction; gears; medical robotics; motor drives; nonlinear control systems; parameter estimation; servomotors; vibration control; differential gear; friction free bilateral control system; friction free bilateral system; mechanical parameters; mechanical resonant frequency; nonlinear friction torque; planetary gear; servomotors; tensional vibration; twin drive control system; Control systems; Force feedback; Force sensors; Friction; Gears; Haptic interfaces; Resonant frequency; Robots; Springs; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on

Print_ISBN

0-7803-8300-1

Type

conf

DOI

10.1109/AMC.2004.1297667

Filename

1297667