Force control of direct-drive robot

Y. Kawasumi, T. Murakami, K. Ohnishi

研究成果: Paper査読

抄録

This paper deals with a torque-position hybrid control of direct-drive robot. The tested robot has three-degrees-of-freedom and each joint has a direct-drive AC motor with a high resolution encoder. A direct-drive of each link realizes high precision task because no transmission exists between the shaft of the motor and the link. On the contrary, the interactive forces give significant effects to the joint motion as the equivalent gear ratio is unity. It is essential to reduce these interactive terms in realization of direct-drive robot. Here, a disturbance observer which estimates a disturbance torque is applied to a motion control system, and an acceleration-based torque controller is realized in the force task.

本文言語English
ページ199-204
ページ数6
出版ステータスPublished - 1991 1月 1
イベントProceedings of the 11th Triennial World Congress of the International Federation of Automatic Control - Tallinn, USSR
継続期間: 1990 8月 131990 8月 17

Other

OtherProceedings of the 11th Triennial World Congress of the International Federation of Automatic Control
CityTallinn, USSR
Period90/8/1390/8/17

ASJC Scopus subject areas

  • 工学一般

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