IEEJ Journal of Industry Applications
Online ISSN : 2187-1108
Print ISSN : 2187-1094
ISSN-L : 2187-1094
Paper
Single-Inertialization Based on High-Backdrivability Control Using Equivalent Disturbance Compensator for Human Interaction Robot
Shunsuke SuzukiYusuke KawaiYuki YokokuraKiyoshi OhishiToshimasa MiyazakiTaiga Shinozaki
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2021 Volume 10 Issue 3 Pages 282-291

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Abstract

This study aims to improve the backdrivability of a two-inertia system by developing a single-inertia system using an equivalent disturbance compensator. This method provides a torque equivalent to the disturbance torque and provides a motor-side acceleration equivalent to the load-side acceleration caused by disturbance. The proposed method also achieves smooth backdrivability by realizing the single inertialization of the load-side inertia alone. The efficiency of the proposed method is confirmed through a transfer function, two types of real machine experiments, and simulation results.

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© 2021 The Institute of Electrical Engineers of Japan
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