抄録
Robots capable of gentle contact with humans are required to achieve safe human-robot interaction
and cooperation, crucial to accomplishing the SDG 9. Geared motors are a good candidate for the
development of such a robot. However, gears require oil for lubrication, and this oil may leak, causing serious
environmental hazards for humans nearby. Mounting oil seals prevents the leaking problem, but greatly
increases friction in the robot actuator mechanism, which induces stick-slip on low velocities and severely
degrades its performance. This paper proposes a control-based solution for the stick-slip phenomenon on such
actuators that does not require any modification on mechanical components. The proposed stick-slip compensation
algorithm achieves smooth motion on oil-seal-mounted geared motors, establishing a step forward
to the development of robot actuators for safe human-robot interaction.
