高減速複合遊星歯車機構を用いたロボット用アクチュエータのためのバックラッシを考慮した力制御手法の基礎検討

抄録

Actuators for the robot that interacts with humans are required high power and backdrivability. The control performance of the actuator consisting of the reduction gear and the motor is decreased by friction and backlash. In this paper, we propose a force control method that comprises a feedforward compensation for the influence of backlash, an observer-based friction compensation, and estimation and feedback of the load-side disturbance by using a load-side disturbance observer. In particular, the influence of backlash is compensated based on the transmission error in the angular velocity region. The effectiveness of the proposed method is verified by the simulation.