TY - GEN
T1 - Compensation of backlash for teleoperated geared motor drive systems
AU - Prasanga, D. Kasun
AU - Mizoguchi, Takahiro
AU - Tanida, Kazuki
AU - Ohnishi, Kouhei
PY - 2013/12/1
Y1 - 2013/12/1
N2 - Robotics is a major field that is being researched for decades. With the use of robotic technology, applications of the microscopic level to the places where the human cannot reach are facilitated. When it comes to the larger robots, large actuators and drives have to be used to obtain the desired amount of power and the force or torque needed. As the electric motors have a limitation of torque output with its capacity, the most desirable way is to use the gears. However this introduces large inertia, backlash and friction to the system. If the system is used for the transmission of haptic information in bilaterally controlled systems, it greatly deteriorates the performance of the system and necessitates a compensation for the backlash caused by the gears. This paper introduces a method to compensate the backlash generated by the geared system. This method uses two identical counter operating drives per joint to compensate the backlash effect. Experiments are carried out for the proposed method to validate its accuracy.
AB - Robotics is a major field that is being researched for decades. With the use of robotic technology, applications of the microscopic level to the places where the human cannot reach are facilitated. When it comes to the larger robots, large actuators and drives have to be used to obtain the desired amount of power and the force or torque needed. As the electric motors have a limitation of torque output with its capacity, the most desirable way is to use the gears. However this introduces large inertia, backlash and friction to the system. If the system is used for the transmission of haptic information in bilaterally controlled systems, it greatly deteriorates the performance of the system and necessitates a compensation for the backlash caused by the gears. This paper introduces a method to compensate the backlash generated by the geared system. This method uses two identical counter operating drives per joint to compensate the backlash effect. Experiments are carried out for the proposed method to validate its accuracy.
KW - Bilateral control
KW - Gear backlash compensation
KW - Haptics
KW - Teleoperation
KW - Twist control
UR - http://www.scopus.com/inward/record.url?scp=84893552807&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893552807&partnerID=8YFLogxK
U2 - 10.1109/IECON.2013.6699787
DO - 10.1109/IECON.2013.6699787
M3 - Conference contribution
AN - SCOPUS:84893552807
SN - 9781479902248
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 4067
EP - 4072
BT - Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
T2 - 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Y2 - 10 November 2013 through 14 November 2013
ER -