{"product_id":"ieej-spc19056md19056","title":"Robust and High Precision Position Servo System of Geared AC Servo Motor Based on Nonlinear Stiffness Variation Torque Observer","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\u003eSPC19056,MD19056\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eグループ名: \u003c\/strong\u003e【D】産業応用部門 半導体電力変換\/【D】産業応用部門 モータドライブ合同研究会\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e発行日: \u003c\/strong\u003e2019\/01\/25\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eタイトル(英語): \u003c\/strong\u003eRobust and High Precision Position Servo System of Geared AC Servo Motor Based on Nonlinear Stiffness Variation Torque Observer\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e著者名: \u003c\/strong\u003eVera Paramo Julio Cesar(長岡技術科学大学),大石 潔(長岡技術科学大学),横倉 勇希(長岡技術科学大学)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e著者名(英語): \u003c\/strong\u003eJulio Cesar  Vera Paramo(Nagaoka University of Technology),Kiyoshi Ohishi(Nagaoka University of Technology),Yuki Yokokura(Nagaoka University of Technology)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eキーワード: \u003c\/strong\u003eＲｏｂｏｔ　Ｃｏｎｔｒｏｌ|Ｉｎｄｕｓｔｒｉａｌ　Ｒｏｂｏｔ|Robot Control|Industrial Robot\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e要約(日本語): \u003c\/strong\u003eThe torque transmission in robotic joints often generates its nonlinear phenomenon due to flexibility in harmonic gears. This phenomenon, as well as friction, produces its position error in the load-side position. In this paper, a compensation method is p\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e要約(英語): \u003c\/strong\u003eThe torque transmission in robotic joints often generates its nonlinear phenomenon due to flexibility in harmonic gears. This phenomenon, as well as friction, produces its position error in the load-side position. In this paper, a compensation method is proposed to correct the variation of the torsion torque effect in the arm position, considering a new nonlinear torsion torque observer based on the nonlinear torsion torque model.\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\u003e2,153 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":46393299075311,"sku":"IEEJ-SPC19056MD19056-PDF","price":330.0,"currency_code":"JPY","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0718\/9512\/2159\/files\/IEEJ-PDF_ceac95d1-56e9-43c1-a520-2298c33994bf.png?v=1744687354","url":"https:\/\/ieej.bookpark.ne.jp\/products\/ieej-spc19056md19056","provider":"電気学会 電子図書館","version":"1.0","type":"link"}