Identification of twin direct-drive motor system with consideration of wire rope tension

Chowarit Mitsantisuk, Kiyoshi Ohishi, Shiro Urushihara, Seiichiro Katsura

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

An adaptable stiffness of mechanical using wire rope tension control, called as a twin direct-drive motor system, has unique advantages in human-robot interaction system, when compared with conventional industrial robot. Since the wire rope is low friction and lightweight device, it is possible to achieve high-efficiency, high degree of reliability, and safety. In this paper, modeling and closed-loop identification of the twin direct-drive motor system with wire rope tension are considered. After the swept-frequency sine wave injection and output data collection are finished, the Box-jenkins model is employed to identify the frequency response. From the simulation and experimental results, the total stiffness of the twin direct-drive motor system and the bandwidth of mechanical system can be increased by changing wire rope tension. This feature may make the twin direct-drive motor system very useful to provide a safety and smooth interaction force during operation. Therefore, it is suitable to implement with the human-robot applications for example, arm movement training robot and motion guide robot system.

本文言語English
ホスト出版物のタイトルIEEE 2009 International Conference on Mechatronics, ICM 2009
DOI
出版ステータスPublished - 2009 7 17
イベントIEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga, Spain
継続期間: 2009 4 142009 4 17

出版物シリーズ

名前IEEE 2009 International Conference on Mechatronics, ICM 2009

Other

OtherIEEE 2009 International Conference on Mechatronics, ICM 2009
CountrySpain
CityMalaga
Period09/4/1409/4/17

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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