Single-Inertialization Based on High-Backdrivability Control Using Equivalent Disturbance Compensator for Human Interaction Robot

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: 2021/05/01

タイトル(英語): Single-Inertialization Based on High-Backdrivability Control Using Equivalent Disturbance Compensator for Human Interaction Robot

著者名: Shunsuke Suzuki (Nagaoka University of Technology), Yusuke Kawai (Nagaoka University of Technology), Yuki Yokokura (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University of Technology)

著者名(英語): Shunsuke Suzuki (Nagaoka University of Technology), Yusuke Kawai (Nagaoka University of Technology), Yuki Yokokura (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University of Technology)

キーワード: two-inertia system，industrial robot，backdrivability，single-inertialization，equivalent disturbance compensator

要約(英語): This study aims to improve the backdrivability of a two-inertia system by developing a single-inertia system using an equivalent disturbance compensator. This method provides a torque equivalent to the disturbance torque and provides a motor-side acceleration equivalent to the load-side acceleration caused by disturbance. The proposed method also achieves smooth backdrivability by realizing the single inertialization of the load-side inertia alone. The efficiency of the proposed method is confirmed through a transfer function, two types of real machine experiments, and simulation results.

本誌: IEEJ Journal of Industry Applications Vol.10 No.3 （2021）

本誌掲載ページ: 282-291 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/10/3/10_20002323/_article/-char/ja/