Force-Reflecting Type Friction Free Bilateral System Based on Twin Drive Control System with Torsional Vibration Suppression

Abstract

This paper proposes a new friction free bilateral system based on twin drive control system considering resonant frequency for bilateral systems. 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, the resonant frequency and the anti-resonant frequency caused by the tensional vibration exist. This paper proposes a new two-mass-model of twin drive system and suppress torsional vibration by state-feedback. The proposed control method is applied to the bilateral robot, and the effectiveness of the control method is confirmed by the experimental results.