Abstract
This paper describes torque control of a geared DC motor. Torque sensory feedback is beneficial for fine torque generation using geared DC motors. However, it reduces the structural stiffness and results in low response in both torque and position controls. To improve these aspects, the proposed method employs positive feedback of the link angle acceleration. To enable high performance of this positive feedback, the concept of an acceleration controller, realized by a disturbance observer, is also employed. The proposed method was confirmed to be effective in constructing a fine torque control system while improving the structural stiffness reduced by the torque sensor. The paper also reports the experimental results from implementation of this controller.
