減速機を有する電磁モータのモータ／負荷側エンコーダを用いた負荷トルク制御器の設計

抄録

Actuators that have characteristics such as light weight, high torque to weight ratio, and torquecontrolled performance are desired for finger robots or power assist suits. Although electromagnetic motors excel in torque-controlled performance, they are low torque to weight ratio. On the one hand, although electromagnetic motors with reduction gear are high torque to weight ratio, they are regarded as low torque-controlled performance by backlash and friction inherent in the actuators. This research therefore design load torque controller using motor/load-side encoders and load torque estimating observer using the backlash model. The validity of the proposed controller and observer are verified by simulation and experiment.