Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
Collaborative robots are expected to be applied in many fields in the near future, while high rigidity and high backdrivability are needed. A low friction gear is a good candidate for hightening backdrivability, but backlash on the gear is an issue for such a gear. In this paper, we therefore propose a two inertia model including nonlinear elements and tortion torque feedback using encoders. We showed that degradation of control accuracy due to internal deadzone, which is a demerit of the reduction gear, can be conpensated.
