DocumentCode
2108852
Title
A position sensor based torque control method for a DC motor with reduction gears
Author
Tanie, K. ; Yokoi, K. ; Kaneko, M. ; Fukuda, T.
Author_Institution
Minist. of Int. Trade & Ind., Tsukuba Science City, Ibaraki, Japan
fYear
1988
fDate
24-29 Apr 1988
Firstpage
1867
Abstract
A control structure suitable for torque control using a geared DC servomotor discussed. The torque sensory feedback is advantageous for the fine torque generation by geared DC motors. However, it reduces the structural stiffness and in turn causes a low response in both the torque and position controls. To improve this, it is suggested that the natural frequency of the motor rotor position servosystem should be large. The suggestion is verified by experiments on a single-joint manipulator
Keywords
DC motors; position control; robots; servomotors; torque control; variable speed gear; DC motor; DC servomotor; manipulator; position controls; position sensor based torque control; reduction gears; rotor; DC motors; Frequency; Gears; Manipulators; Mechanical engineering; Robotic assembly; Rotors; Servomechanisms; Servomotors; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12344
Filename
12344
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