하모닉 감속기가 장착된 모터 구동식 회전 관절의 마찰 보상
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 controlAcknowledgments
이 연구는 서울과학기술대학교 교내연구비의 지원으로 수행되었습니다.
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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
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
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