2019
DOI: 10.1541/ieejjia.8.779
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Backdrivability Improvement Method Based on Angular Transmission Error in a High Reduction Gear

Abstract: The actuators in robot joints are often equipped with reduction gears for increasing the power output. However, a high reduction ratio is required to decrease the backdrivability. In this paper, the backdrivability is improved by installing motor-and load-side encoders in the reduction gear. The proposed method comprises a backdrive assist control, feedforward friction compensation, and estimation and feedback of the load-side disturbance by using a multiencoder-based disturbance observer. The angular transmis… Show more

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Cited by 9 publications
(3 citation statements)
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“…̂θ 𝑚 = 𝑠𝑄(𝑠)𝜃 𝑚 (14) In the controlled plant considered in this study, friction and inertia of load-side rotation are small, and τ𝑑𝑖𝑠s = τ𝑑𝑖𝑠l…”
Section: 21mentioning
confidence: 99%
See 1 more Smart Citation
“…̂θ 𝑚 = 𝑠𝑄(𝑠)𝜃 𝑚 (14) In the controlled plant considered in this study, friction and inertia of load-side rotation are small, and τ𝑑𝑖𝑠s = τ𝑑𝑖𝑠l…”
Section: 21mentioning
confidence: 99%
“…However, with methods proposed in References, [8][9][10][11] estimation errors occur if backlash is ignored when estimating torsion torque from torsion angle and spring constant. With methods described in References, [12][13][14][15] torsion angle is not measured, and influence of backlash is inevitably ignored when estimating torsion torque. Besides, in Reference, 16 estimation is based on a weighted sum of torsion torques estimated with and without using torsion angle, but the effect of ignoring backlash cannot be fully excluded.…”
Section: Introductionmentioning
confidence: 99%
“…For example, high reduction-ratio gears are essential to obtain high torque using an electric motor, although the gears amplify the friction along with the motor torque, thus reducing back-drivability. Special gears with low mechanical losses were reported as a solution [8], [9], [10]. Shukor et al [11] proposed a spiral motor to increase the thrust density of its electric actuator by increasing the opposing area between the stator and the moving part.…”
mentioning
confidence: 99%