By controlling the torsional angle of the torque sensing element without using the torque sensor output, a high stiffness torque control system for geared DC motors has been proposed. This torque control system is successful when the torque sensor and the harmonic drive gear are modeled as linear springs. This paper describes a drive system observer added to the previous torque control system in order to compensate for nonlinearities of the drive system such as harmonic drive gears. The effectiveness of the proposed method was demonstrated by the experiments.
|出版ステータス||Published - 1994 12月 1|
|イベント||Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) - Bologna, Italy|
継続期間: 1994 9月 5 → 1994 9月 9
|Other||Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3)|
|Period||94/9/5 → 94/9/9|
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