負荷側外乱オブザーバに基づくハプティックシステムの振動抑制制御

萬 修太郎; 桂 誠一郎

doi:10.11511/jacc.52.0.30.0

THE 52ND JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : E1-1

DOI https://doi.org/10.11511/jacc.52.0.30.0

Conference information

Host: ISCIE, SICE, JSME, JSPE, JSASS, SCEJ

Co-host: Technically Cosponsored by 48 Societies and Institutes

Vibration Suppression Control of Haptic System Based on Load Disturbance Observer

*Shutaro Yorozu, Seiichiro Katsura

Author information

Keywords: Real world haptics, Load disturbance observer, Resonant control, 2 Mass Resonant System, Electromechanical Integration System

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

Tele-operation of robot with flexible arm that is able to reduce burden of astronaut is expected. The robot has some problems; apex of arm is in a vibrating manner when stiffness of arm is low value, force of environment could not be felt on labor assistant. In this paper, Vibration suppression control of haptic system based on load disturbance observer is proposed. The proposed method realizes to suppress the vibration of the arm and to feed sense of force back to operator.

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