Analysis and Realization of Robot Actuator Based on Bidirectional Drivability Matrix. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Kawai, Yusuke; Yokokura, Yuki; Ohishi, Kiyoshi; Boonwong, Pattawan
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 12047
• Page End: 12052
• Publication Date: 2017-07
• Subjects: Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.2109
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper proposes a bidirectional drivability matrix for enhancing the load-side operability of geared-motor. The interactive anti-resonant frequency in back-forward drivability is determined by analyzing the bidirectional drivability matrix of a two-inertia system. Load-side operability is low because a two-inertia system depends on friction. In contrast, a high operability at the load-side can be achieved using load-side torque control based on motor-side acceleration control. Simulations and experiments confirm the effectiveness of the analysis based on a bidirectional drivability matrix.