差動式リニアモータによるコンプライアンス制御

概要

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Various types of linear motor have been developed. However, most of them are only applied to positioning control. High compliance property of the linear motor has not been used effectively. Then there are few types of linear motor which can be applied to manufacturing unit.In this study, we developed a differential linear motor which has some advantages suitable for manufacturing unit. The new type of the linear motor has been expected to be applied not only to positioning unit but also to active compliance unit of robot manipulators. Therefore, we applied pseudo diagonalization method to the position and compliance control of the developed differential linear motor. In the position control part dither signal was used after diagonalization. Amplitude of the dither signal was modified by error signals. In the compliance control part PID controller was used. The effectiveness of the proposed control system was shown through experiments.
社団法人電気学会の論文