Force-Reflecting Type Friction Free Bilateral System Based on Twin Drive Control System with Torsional Vidration Suppression Sade: Member Yasura Ohba Mentor (opin taney o Tosa) Kiyoshi Onishi aga Ura of Tet) ‘Keywords Bgl cnt Maine Syste, Staton, Twin ie, Reaction face eintion cheer, Fico viet, Foroaedack pes etn fen ‘The paper propo ane tion fs ister = ex he on in deve conta stn considering > ‘ont fequeny fr Dita stens. "The twin ie totem conta of wo clos which ae coupled by ‘iret die. The output torque becomes a dir lent toque of oth moter So, the nonlinear on toma vin deve mst an be any compet, “However, the resonant equecy and the entresoaat Sreqoecy cued by the tension wbtion ext The ‘ar peopana ny trvsner-nodel of tn dive ge {em and suppres torsional vibration by tate fob ‘The prooeed contol mathod i applied to the Bist cal rbot and the eflastvenn ofthe conte meted ‘Weormed ty the experimental ess Tn arer to mapprom the torsoal vibration, this pe per ropes a esate back cone peter With Nelo Pl conta a sown i Fg Fig) and Fis.) show the experimental enitsof ‘he proposed frosting type ilar estar, The roped contol method has no vibration phenomanen In comparion sith the corral mod whose vie toa suprenion cnt! lop. Tom Fig2the ea mena esuls eat tha the proposed vibration sp- Prot contd nto suppres wir ‘om without reducing Use anadth ofthe jotan, Estimate Torque(Nm) (rin rain pan to (ui etn apm eperinonta eto hiatal tee Pip Virtual Differential Motor Virtual Summation Motor