Name
Abstract | ||
|---|---|---|
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. |
Year | Venue | Keywords |
|---|---|---|
2016 | PROCEEDINGS 2016 IEEE 25TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE) | Backlash, Two-inertia system, Joint torque, Load-side encoder, Disturbance observer |
Field | DocType | ISSN |
Stall torque,Torque,Backlash,Torque sensor,Damping torque,Control theory,Direct torque control,Control engineering,Encoder,Engineering,Servomotor | Conference | 2163-5137 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shota Yamada | 1 | 94 | 18.10 |
| Hiroshi Fujimoto | 2 | 1 | 1.05 |
| Yuki Terada | 3 | 0 | 0.68 |