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: 2019/03/01タイトル(英語): Smooth Human Interaction Control using Torsion Torque Controller and Motor-side Normalization Compensator Focusing on Back-forward Drivability著者名: 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): 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: back-forward drivability，vibration suppression，human interaction，two-inertia system要約(英語): This paper focuses on back-forward drivability and defines the ideal drivability. This paper proposes a new back-forward drivable control method that achieves vibration suppression while maintaining back-forward drivability for a two-inertia system. The proposed control system combines torsion torque control (TTC) and a motor-side normalization compensator (MNC) to facilitate human-robot interactions. The effectiveness of the proposed control system is verified based on numerical simulation and experimental results, and the vibration of the back-forward drivable response is drastically suppressed.本誌: IEEJ Journal of Industry Applications Vol.8 No.2 （2019） Special Issue Ⅰ on “Motion Control and its Related Technologies” Special Issue Ⅱ on “IPEC-Niigata 2018”本誌掲載ページ: 322-333 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/8/2/8_322/_article/-char/ja/
