Load-Side Acceleration Control of Two-Inertia System for Human-Interactive Robot Actuators

Abstract

This paper presents load-side acceleration control for human-interactive robot actuators mod- eled as 2-inertia resonant systems. Altough conventional acceleration control induces mechanical resonant vibration, the load-side acceleration control has fine control capability even where mechanical resonance occurs. The control concept, structure, and effectiveness are presented in this paper.