Friction free bilateral robot based on twin drive control system considering two resonant frequencies

摘要

This paper proposes a new friction free bilateral system based on twin drive control system considering it's resonant frequency. The twin drive system consists of two motors that are coupled by the differential gear. The output torque becomes a differential torque of both motors. The nonlinear friction torque of the twin drive system is easily compensated. However, this system has the resonant frequencies and the anti-resonant frequencies which are caused by the torsional vibration. This paper proposes a new three-inertial-model of twin drive system, and identifies the resonant frequencies and it's friction torque. This paper proposes a new vibration suppression controller for the three-inertial model without high order control system. Therefore, the operationality of bilateral teleoperation is improved by the proposed system.