제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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- Pages.1014-1017
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- 1988
Dynamic decoupling and load desensitization of direct-drive robots by current feedback
- Kim, Young-Tark (Department of Applied Systems Science, Faculty of Engineering, Kyoto Univ.) ;
- Asada, Haruhiko (Department of Applied Systems Science, Faculty of Engineering, Kyoto Univ.)
- 발행 : 1988.10.01
초록
Direct-drive robots have excellent features including no backlash, small friction, and high mechanical stiffness. However, dynamic coupling among joints as well as nonlinear effects become more prominent than traditional robots with reducers. Another critical issue is that the robot becomes more sensitive to the change of load. In this paper, we develop a simple current feedback scheme for reducing the influence of dynamic coupling and load sensitivity on the direct-drive robots. The method is implemented on a 2 d.o.f. planar direct-drive robot. Then the validity of the method is demonstrated through experiments.
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