Force control method for Bi-articular robot arm considering nonlinear static friction of the planetary gear mechanism

カテゴリ: 研究会(論文単位)

論文No: MEC19020

グループ名: 【D】産業応用部門 メカトロニクス制御研究会

発行日: 2019/12/14

タイトル(英語): Force control method for Bi-articular robot arm considering nonlinear static friction of the planetary gear mechanism

著者名: TRANTUAN MINH(長岡技術科学大学),宮崎 敏昌(長岡技術科学大学)

著者名(英語): MINH TRANTUAN(Nagaoka university of technology),TOSHIMASA MIYAZAKI(Nagaoka university of technology)

キーワード: Bi-articular muscle|planetary gears|nonlinear static friction|dither signal|FFDOB

要約(日本語): This paper proposes an appropriate dither input method into each gear of the planetary gear mechanism according to the direction of the arm tip’s force to improve the force control performance by reducing the static friction phenomenon between gears. The friction free observer(FFDOB) is used instead of the conventional DOB in estimating the transmission loss of the planetary gear mechanism to eliminate the noise caused by dither signal. The effectiveness of the proposed dither signal input method in improving the arm tip’s force control and the FFDOB implementation’s effectiveness in noise elimination inside the estimated transmission loss is confirmed by experimental results .

要約(英語): This paper proposes an appropriate dither input method into each gear of the planetary gear mechanism according to the direction of the arm tip’s force to improve the force control performance by reducing the static friction phenomenon between gears. The friction free observer(FFDOB) is used instead of the conventional DOB in estimating the transmission loss of the planetary gear mechanism to eliminate the noise caused by dither signal. The effectiveness of the proposed dither signal input method in improving the arm tip’s force control and the FFDOB implementation’s effectiveness in noise elimination inside the estimated transmission loss is confirmed by experimental results .

原稿種別: 英語

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