IEEJ Transactions on Industry Applications
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
Paper
Robust Resonance Suppression Control based on Self Resonance Cancellation Control and Self Resonance Cancellation Disturbance Observer for Application to Humanoid Robot
Motonobu AokiHiroshi FujimotoYoichi HoriTaro Takahashi
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2014 Volume 134 Issue 4 Pages 376-383

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Abstract
A plant needs to be modeled with two inertia systems: to consider the spring element of the transmission due to the improved kinematic performance of a humanoid robot and to introduce a resonance suppression control. However, previous resonance suppression controls are not robust against modeling error and are difficult to apply to a humanoid robot. In this paper, we present a robust resonance suppression control for the modeling error of two inertia systems; we developed a self resonance cancellation control (SRC) and self resonance cancellation disturbance observer (SRCDOB) and applied them to a humanoid robot.
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© 2014 by the Institute of Electrical Engineers of Japan
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