Position-based High Backdrivable Control Using Load-side Encoder and Backlash

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: 2021/03/01

タイトル(英語): Position-based High Backdrivable Control Using Load-side Encoder and Backlash

著者名: Shota Yamada (The University of Tokyo), Hiroshi Fujimoto (The University of Tokyo)

著者名(英語): Shota Yamada (The University of Tokyo), Hiroshi Fujimoto (The University of Tokyo)

キーワード: backdrivability，backlash，impedance control，robot control，two-inertia system

要約(英語): The demand for robots working with humans, known as collaborative robots, has increased recently. Collaborative robots must be human-friendly; they must ensure safety and flexibly follow human's instructions. In the industry, as the cost of high-resolution encoders has decreased, the number of devices with load-side encoders has significantly increased. However, studies on control methods using load-side encoder information are limited. Therefore, in this paper, a high backdrivable control method for geared mechatronic systems is proposed using load-side encoder information and backlash. The proposed high backdrivable control method utilizes the idling characteristics of backlash, by precise position control using both motor-side and load-side encoders. The performance of the proposed method is verified and compared to impedance control. Moreover, the advantages of employing a load-side encoder to collaborative robots are demonstrated by simulations and experiments.

本誌: IEEJ Journal of Industry Applications Vol.10 No.2 （2021） Special Issue Ⅰ on “Motion Control and its Related Technologies”　　Special Issue Ⅱ on “Advanced Power Electronics Technologies”

本誌掲載ページ: 142-152 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/10/2/10_20004583/_article/-char/ja/