Joint Torque Control for Backlash Compensation in Two-Inertia System

被引：0
|
作者：
Yamada, Shota [1 ]
Fujimoto, Hiroshi [1 ]
Terada, Yuki [2 ]
机构：
[1] Univ Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 2278561, Japan
[2] DMG MORI SEIKI CO LTD, 362 Idono, Yamato Koriyama, Nara 6391183, Japan
来源：
PROCEEDINGS 2016 IEEE 25TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE) | 2016年
关键词：
Backlash; Two-inertia system; Joint torque; Load-side encoder; Disturbance observer; VIBRATION SUPPRESSION;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In controlling ball-screw driven stages of machine tools, industrial robots, and welfare robots, they are modelled as two-inertia systems to consider their transmission characteristics such as low rigidity and nonlinearity. To obtain precise position at the load side, the number of devices with load-side encoders is increasing. The precise joint torque control method and the load-side torque control method for a two-inertia system with backlash are proposed. The proposed methods utilize load-side encoder information effectively. Simulation and experimental results demonstrate the advantages of proposed methods quantitatively.
引用
收藏
页码：1138 / 1143
页数：6
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