Stability enhancement of admittance control with acceleration feedback and friction compensation. (August 2017)

• Record Type: Journal Article
• Authors: Aung, Myo Thant Sin; Kikuuwe, Ryo
• Is Part Of: Mechatronics. Volume 45(2017)
• Page Start: 110
• Page End: 118
• Publication Date: 2017-08
• Subjects: Admittance control -- Noise filter -- Sliding mode -- Position control -- Overdamped behavior; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2017.06.011
• Languages: English
• ISSNs: 0957-4158

Abstract

Abstract: This paper presents an experimental investigation of a new position control scheme that enhances the stability of admittance control by using: (a) PDD 2 (proportional, derivative, and second derivative) feedback, (b) dither-based friction compensation and (c) sliding-mode-based noise filter with a variable gain. The PDD 2 structure and the friction compensation are for expanding the bandwidth of the internal position-controlled subsystem. The sliding-mode-based filter is for the attenuation of noise in the acceleration signal without producing a large phase lag. The variable gain of the filter is for suppressing acceleration-measurement noise at low velocity. The proposed controller is validated by employing a 1-DOF device.