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

页码：1138 / 1143

页数：6

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