Backdrivability Improvement Method Based on Angular Transmission Error in a High Reduction Gear
Backdrivability Improvement Method Based on Angular Transmission Error in a High Reduction Gear
カテゴリ: 論文誌(論文単位)
グループ名: 【D】産業応用部門(英文)
発行日: 2019/09/01
タイトル(英語): Backdrivability Improvement Method Based on Angular Transmission Error in a High Reduction Gear
著者名: Kenta Nagano (Faculty of Engineering, Yokohama National University), Tomoyuki Shimono (Faculty of Engineering, Yokohama National University), Yasutaka Fujimoto (Faculty of Engineering, Yokohama National University)
著者名(英語): Kenta Nagano (Faculty of Engineering, Yokohama National University), Tomoyuki Shimono (Faculty of Engineering, Yokohama National University), Yasutaka Fujimoto (Faculty of Engineering, Yokohama National University)
キーワード: backdrivability,angular transmission error,reduction gear
要約(英語): The actuators in robot joints are often equipped with reduction gears for increasing the power output. However, a high reduction ratio is required to decrease the backdrivability. In this paper, the backdrivability is improved by installing motor- and load-side encoders in the reduction gear. The proposed method comprises a backdrive assist control, feedforward friction compensation, and estimation and feedback of the load-side disturbance by using a multi-encoder-based disturbance observer. The angular transmission error in the reduction gear is treated as a disturbance that affects the motor. This disturbance is estimated from the motor- and load-side angular accelerations, and provides feedback assistance to the backdrive. The effectiveness of the proposed method is verified through experiments.
本誌: IEEJ Journal of Industry Applications Vol.8 No.5 (2019)
本誌掲載ページ: 779-786 p
原稿種別: 論文/英語
電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/8/5/8_779/_article/-char/ja/
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