1P1-D01 2ステージアクチュエータを用いた広帯域バイラテラル制御 : 2ステージアクチュエータ単体性能の実験検証(ハプティックインタフェース)

概要

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This article proposes a two stage actuator system that consists of a coarse actuator driven by a ball screw and a fine actuator driven by a voice coil motor and a bilateral control system using the proposed actuator system. In the proposed method, by consolidate inexpensive two actuators based on a control design for bandwidth separation, a wide bandwidth bilateral control system can be constructed. It was proved by simulation that a higher transparency is achieved using the proposed system compared with narrow-bandwidth case using a single ball screw system. Furthermore, a prototype of the two stage actuator has been developed and basic performance was evaluated by experiment. The experimental results showed that a mechanical impedance with a mass of 10 g and damping of 1.6 N/(m/s) was successfully implemented.
一般社団法人日本機械学会の論文
2011-05-26