Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
Actuators for robots that interact with humans are required high power and backdrivability. Reduction gears are used for actuators of robots. The control performance of actuators with the reduction gear and the motor is decreased by friction and backlash. Therefore, the consideration of these influences is necessary for the detection of the external force. This paper proposes a feedforward compensation of the backlash for a load-side disturbance observer based on the torsion torque. In particular, the influence of the backlash is compensated based on the transmission error in the angular velocity region. Experimental results show the effectiveness of the proposed method.
