{"title":"A basic study on admittance control using torsional torque control for a two-inertia system","authors":"Takaaki Hayashi, S. Yamada, H. Fujimoto","doi":"10.1109/icm54990.2023.10101936","DOIUrl":null,"url":null,"abstract":"Demand for cooperative robots is increasing. One of their control methods is admittance control. Not many studies worked on admittance control for a plant with resonance. We aimed at designing the control system so that the whole system does not vibrate at the anti-resonance frequency of the plant. The admittance control was attributed to the torsional torque control. The effectiveness of the proposed method in vibration due to a dynamics of a two-inertia system was validated in the simulations and experiments, especially by the result of time response that showed the reduction of the overshoot by more than 30%.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 IEEE International Conference on Mechatronics (ICM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/icm54990.2023.10101936","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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Abstract
Demand for cooperative robots is increasing. One of their control methods is admittance control. Not many studies worked on admittance control for a plant with resonance. We aimed at designing the control system so that the whole system does not vibrate at the anti-resonance frequency of the plant. The admittance control was attributed to the torsional torque control. The effectiveness of the proposed method in vibration due to a dynamics of a two-inertia system was validated in the simulations and experiments, especially by the result of time response that showed the reduction of the overshoot by more than 30%.
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