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
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;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12344
