非接触磁気歯車のロボット制御への適用

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2012/03/01

タイトル(英語): Contactless Magnetic Gear for Robot Control Application

著者名: 小宮山弘樹（（株）ニコン），内村　裕（芝浦工業大学）

著者名(英語): Hiroki Komiyama (NIKON CORPORATION), Yutaka Uchimura (Shibaura Institute of Technology)

キーワード: 非接触磁気歯車，コギングトルク，2慣性系，速度制御，位置制御，センサレス・バイラテラル制御　　contactless magnetic gear，cogging torque，two mass system，speed control，position control，force sensorless bilateral control

要約(英語): This paper describes the application of a magnetic gear to a robot by fulfilling the essential requirements for a robot control, which are velocity control, position control, and force control. A magnetic gear is a transmission device that realizes contactless torque transmission by applying a magnetic force. When using a magnetic gear, cogging torque and spring characteristics need to be considered. In this paper, we introduce an approximate model of cogging torque. This model is used for velocity control to attenuate the disturbance due to cogging torque. In the case of position control, the oscillations due to the spring effect of the magnetic attractive force become a problem. To reduce the adverse effect due to these oscillations, resonance ratio control is applied. We also propose to use a magnetic gear for realizing the force sensorless bilateral control of teleoperation. Thanks to the frictionless transmission of a magnetic gear, the force sensorless estimation of a reaction force can be realized using a reaction force observer.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.132 No.3 （2012） 特集：産業計測制御全般

本誌掲載ページ: 389-396 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/132/3/132_3_389/_article/-char/ja/