Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
This paper proposes a novel loss-compensation controller which improves the convergence performance of joint angles for robot manipulators. It was found that the previous loss-compensation control based on the disturbance observer and torque measurement generated a limitcycle phenomenon in the final phase of set-point control due to the error of loss estimation. A rather simple idea to vary the amount of compensation asymmetrically with respect to the conformity of actuation and compensation directions suppresses the limitcycle due to the sliding-mode effect. Some experiments showed that a robot could be equipped with a better tracking performance without sacrificing back-drivability.
