Compensation of Integrated Resonant and Time Delay System by Using Wave Compensator

Recently, teleoperated robots have been researched for working in ultimate environment actively. Developing performance of teleoperated robots, it will be possible for human to work in such a ultimate environment with safety. However, in the actual case, a flexible mechanism caused by the mechanical constraint such as weight saving of robot, using gear, and so on, induces vibration. Moreover, a communication delay causes vibration, too. In addition, in the worst case, the delay makes the control system unstable. Therefore, in this paper, for suppressing the vibration, compensation of integrated resonant and time-delay systems by using a wave compensator is proposed. In the proposal, there are two important control structures. Firstly, a reflected wave in the resonant system is eliminated by a reflected wave rejection. A transfer function of wave equation without the reflected wave is represented as a time delay. Therefore, a resonant system without a reflected wave can be regarded as an equivalent time-delay system. Next, it is defined that an effect of time delay from resonant and communication systems is caused by a time-delay disturbance. Then, vibrations from resonant and communication delays are simultaneously suppressed by the wave compensator. Finally, the validity of the proposal is verified by simulation and experimental results.