トルク制御可能なサーボユニットを用いた小型ヒューマノイドロボット(機械力学,計測,自動制御)

概要

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This paper describes a torque control servomechanism for small size robots. As a well known actuator for small size robot, a radio-control servomechanism has been used recently. These radiocontrol servomechanisms on the market has its position-controller inside. Robot system can use these servomechanisms as the open-loop type position servo system. Though, the controller has not the torque control ability which is essential function for robot system. Thus, we made a motor driver for the radio-control servomechanism which can control output torque by controlling current supplied to motor. In this paper, we confirm torque control function of the motor driver. Then, a small size humanoid was made up by use of the motor controller and radio-control servomechanisms, which has the torque control function. Experimental results show that smart compliance control can be realized. It gives softness of the robot movement, which such a small humanoid has not obtained yet.
一般社団法人日本機械学会の論文
2005-08-25