ステッピングモータの脱調を利用したソフトアクチュエーション

概要

論文の詳細を見る
A control scheme to generate soft motion with a stepping motor for contact and/or collision against objects is proposed. The stepping motor has two operational regions in dynamic torque characteristic diagram ; an active region (active torque region) and a non-active region (torqueless region). Difference between them is that the rotation of motor shaft follows driving pulses or not, or the motor rotates in an active way or not. Since the boundary of these regions is a function of driving current, softness against objects or controllability in position/velocity can be achieved selectively by varying appropriately the motor current. An important feature is that the transition from the active region to the non-active region takes place in a passive way, so called step failure or miss-stepping. No active control is, therefore, required to realize softness when an end effecter driven with the proposed scheme contacts or collides to objects. Performance of the proposed soft actuation scheme is demonstrated by an object catching experiment.
一般社団法人日本機械学会の論文
2001-07-25