減速機付DCモータのトルク制御の研究 : 第3報, 駆動系に弾性要素を有するシステムの制御系とそのトルク制御特性 (<小特集>ロボットの知能化)

概要

論文の詳細を見る
In a previous paper, a high-stiffness torque control system for geared DC motors was proposed. Here we describe methods to identify the parameters needed to achieve that control system. Furthermore, our enhanced scheme provides a method for selecting the stiffness of the torque-sensing element to achieve an accurate torque control system. The basic idea is to use an acceleration controller based on a disturbance observer instead of a position controller as proposed in the past. The advantage is that the effects of time delays due to the system dynamics and the effects of Coulomb friction are eliminated by the observer. We present experimental results of implementing this controller.
社団法人日本機械学会の論文
1996-10-25