2A2-C27 低インピーダンスを実現する高剛性トルクエンコーダ内蔵マニピュレータ

概要

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To realize advanced performance in robots, torque sensitivity is crucial. However, torque sensitivity and mobility performance were contradicting conditions. To overcome such problem, we developed highly rigid and high fidelity torque sensor utilizing linear encoders; we call them torque encoders. In our previous works, we used feedfoward torque controller based on identified motor parameters. To eliminate errors in transient states and have better correspondence with physical values, we need high speed current feedback controller. In this paper, we focused on developing FPGA based highly responsive hardware current controller that realizes reliable impedance control. We also built two-link manipulator consisting of two torque encoder joints, and realized impedance controller with gravity compensation.