한국생산제조학회 학술지 영문 홈페이지
[ Special Issue : Engineering Design of ADBL ]
Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 29, No. 3, pp.259-265
ISSN: 2508-5107 (Online)
Print publication date 15 Jun 2020
Received 24 Mar 2020 Revised 08 May 2020 Accepted 12 May 2020
DOI: https://doi.org/10.7735/ksmte.2020.29.3.259

하모닉 감속기가 장착된 모터 구동식 회전 관절의 마찰 보상

조성희a ; 김영석a ; 김정엽a, *
Friction Compensation of Electric-Motor Driven Revolute Joint with Harmonic Gear
Seong-Hee Choa ; Young-Seog Kima ; Jung-Yup Kima, *
aDepartment of Mechanical System Design Engineering, Seoul National University of Science and Technology

Correspondence to: *Tel.: +82-2-970-6355 E-mail address: jyk76@seoultech.ac.kr (Jung-Yup Kim).

Abstract

This paper describes a method for compensating friction caused by the harmonic gear in revolute joint. A torque sensor is attached to the output member of the harmonic gear to measure the friction torque during back driving, and, contrary to conventional methods, torque data according to both the angular velocity and angular acceleration was measured to consider hysteresis. After dividing the measured data into four sections, a friction model was modeled in a quintic polynomial through the curve fitting method in each section. We experimented to estimate the reduction in resistive friction torque during back driving using a 1-DOF test platform with the proposed friction compensation. Moreover, we experimentally compared the position tracking performance with and without friction compensation using the cycling motion of a 2-DOF test platform. Finally, the performance of the friction model proposed in this paper was successfully verified.

Keywords:

Harmonic gear, Friction compensation, Friction torque model, Joint space PD control

Acknowledgments

이 연구는 서울과학기술대학교 교내연구비의 지원으로 수행되 었습니다.

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Seong-Hee Cho

Undergraduate student in the Department of Mechanical System Design Engineering, Seoul National University of Science & Technology.His research interest is Machine design and control.

E-mail: whtjdgml789@naver.com

Young-Seog Kim

Professor in the Department of Mechanical System Design Engineering, Seoul National University of Science & Technology.His research interests are car electronics, controllers for industry purpose, humanoid robot, and DSP application.

E-mail: kys0101@seoultech.ac.kr

Jung-Yup Kim

Professor in the Department of Mechanical System Design Engineering, Seoul National University of Science & Technology.His research interests are lagged robot, assistive and rehabilitation robots.

E-mail: jyk76@seoultech.ac.kr