Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
In order to achieve precise control, it is necessary to exclude disturbances. The general servo motors used in haptic devices use multiple gears to obtain torque. Therefore, they are affected by various kinds of friction. It is known that the contact friction can be reduced by vibrating the contact surface using ultrasonic waves. The static friction force can be compensated by superimposing a low-amplitude wave. It is proposed that these waves can also be used to compensate for dynamic friction. Viscous friction is also compensated in a different way. The goal of this paper is to improve the response of a servo motor using these techniques. Finally, the performance is evaluated.
