{"product_id":"ieej-mec19020","title":"Force control method for Bi-articular robot arm considering nonlinear static friction of the planetary gear mechanism","description":"\u003cp\u003e\u003cstrong\u003eカテゴリ: \u003c\/strong\u003e研究会(論文単位)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e論文No: \u003c\/strong\u003eMEC19020\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eグループ名: \u003c\/strong\u003e【D】産業応用部門 メカトロニクス制御研究会\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e発行日: \u003c\/strong\u003e2019\/12\/14\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eタイトル(英語): \u003c\/strong\u003eForce control method for Bi-articular robot arm considering nonlinear static friction of the planetary gear mechanism\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e著者名: \u003c\/strong\u003eTRANTUAN MINH(長岡技術科学大学),宮崎 敏昌(長岡技術科学大学)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e著者名(英語): \u003c\/strong\u003eMINH TRANTUAN(Nagaoka university of technology),TOSHIMASA MIYAZAKI(Nagaoka university of technology)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eキーワード: \u003c\/strong\u003eBi-articular muscle|planetary gears|nonlinear static friction|dither signal|FFDOB\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e要約(日本語): \u003c\/strong\u003eThis 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 .\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e要約(英語): \u003c\/strong\u003eThis 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 .\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e原稿種別: \u003c\/strong\u003e英語\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003ePDFファイルサイズ: \u003c\/strong\u003e1,798 Kバイト\u003c\/p\u003e","brand":"IEEJ-PDF","offers":[{"title":"PDFダウンロード（一般価格330円\/会員価格220円） \/ A4 \/ 6","offer_id":46393250414831,"sku":"IEEJ-MEC19020-PDF","price":330.0,"currency_code":"JPY","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0718\/9512\/2159\/files\/IEEJ-PDF_105c589a-32d5-433e-832b-e16dc81d08bd.png?v=1744685197","url":"https:\/\/ieej.bookpark.ne.jp\/products\/ieej-mec19020","provider":"電気学会 電子図書館","version":"1.0","type":"link"}