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• W2087003335 abstract "Controlling robot with the mechanical resonance has been receiving increased attention. A new effective control method, a resonance ratio control, has been introduced as a new way to guarantee the robustness and suppress the oscillation during task executions for position and force control system. This work presents a new approach to the controlling of flexible robot system by a switching operation mode resonance ratio control. To calculate the optimal parameters of position/force servoing based on resonance ratio control, a Coefficient Diagram Method (CDM) is employed. In this paper, we introduce a novel approach that automatically adapt algorithm parameters conditional based on the operational tasks. Moreover, a multiencoder based disturbance observer (MEDOB) is shown to estimate the external force on the load side, rather than using a force sensor. The experiments with a linear motor and spring show the validity of the approach. From the experiments, it can reject vibration to improve controlling performance." @default.
• W2087003335 created "2016-06-24" @default.
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• W2087003335 date "2013-02-01" @default.
• W2087003335 modified "2023-09-24" @default.
• W2087003335 title "Switching operation mode resonance ratio control for flexible robot system" @default.
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• W2087003335 doi "https://doi.org/10.1109/icmech.2013.6519105" @default.
• W2087003335 hasPublicationYear "2013" @default.
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