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

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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 Interact ion 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/ Show more