駆動側/負荷側エンコーダを有する減速機付き電磁モータのねじれトルク推定にバックラッシュモデルを用いた負荷側角度制御

抄録

In order to reduce the weight of industrial robots，collaborative robots and improve force control performance, the tip of the motor output shaft and reducer output shaft may be configured with low-rigidity mechanical parts. However, there is a problem that the mechanical resonance frequency decreases and vibration is likely to occur during high-speed operation. To solve this problem, a method of suppressing vibration by feeding back the torsional torque of low-rigidity mechanical parts is known, but self-excited vibration and steady deviation due to estimation error may occur. Therefore, in this paper, we proposed a torsion torque estimator that uses both the motor angle and the load angle via low-rigidity machine parts and has a backlash model. The effectiveness of the proposed method was shown in simulations and experiments of load-side angle control of a motor with a reducer.