Compensation of backlash for teleoperated geared motor drive systems

D. Kasun Prasanga, Takahiro Mizoguchi, Kazuki Tanida, Kouhei Ohnishi

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
ページ4067-4072
ページ数6
DOI
出版ステータスPublished - 2013 12月 1
イベント39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
継続期間: 2013 11月 102013 11月 14

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
国/地域Austria
CityVienna
Period13/11/1013/11/14

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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