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Force Control Method for Bi-articular Robot Arm Considering Nonlinear Static Friction of the Planetary Gear Mechanism

机译：考虑行星齿轮机构非线性静摩擦的双关节机器人手臂力控制方法

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This paper proposes an appropriate dither input method into each gear of the planetary gear mechanism according to the direction of the arm tip force to improve the force control performance by reducing the static friction phenomenon between gears. The friction free observer(FFDOB) is used instead of the conventional DOB in estimating the transmission loss of the planetary gear mechanism to eliminate the noise caused by dither signal. The effectiveness of the proposed dither signal input method in improving the arm tip force control and the FFDOB implementation effectiveness in noise elimination inside the estimated transmission loss is confirmed by experimental results.

机译：本文根据臂尖端力的方向提出了一种适当的抖动输入方法，以通过减少齿轮之间的静摩擦现象来改善力控制性能。使用摩擦观察者（FFDOB）代替常规DOB，估计行星齿轮机构的传输损耗，以消除由抖动信号引起的噪声。通过实验结果证实了所提出的抖动信号输入方法改善臂尖力控制和噪声消除中的FFDOB实现有效性的有效性。通过实验结果确认了估计的传输损失内的噪声消除。

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《メカトロニクス制御研究会》|2019年|19-24|共6页
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Tran Tuan Minh; Toshimasa Miyazaki;
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Bi-articular muscle; Planetary Gears; Nonlinear Static Friction; Dither Signal; FFDOB;

机译：双关节肌肉行星齿轮非线性静摩擦;抖动信号; FFDOB;

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机译：具有冗余双关节和单关节肌肉机制的人形机器人手臂的自适应控制肌肉力分布
2. Tip force dependence on placed bi-articular motor using planetary gear [J] . Atsushi Umemura, Toshimasa Haneyoshi International Journal of Mechatronics and Automation . 2013,第1期

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3. Neuro-controller for antagonistic bi-articular muscle actuation in robotic arms based on terminal attractors [J] . Transactions of the Institute of Measurement and Control . 2020,第11期

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4. Force Control Method for Bi-articular Robot Arm Considering Nonlinear Static Friction of the Planetary Gear Mechanism [C] . Tran Tuan Minh, Toshimasa Miyazaki メカトロニクス制御研究会 . 2019

机译：考虑行星齿轮机构非线性静态摩擦的双关节机器人手臂力控制方法
5. Three-Dimensional Nonlinear Dynamics and Vibration Reduction of Gear Pairs and Planetary Gears. [D] . Eritenel, Tugan. 2011

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Force Control Method for Bi-articular Robot Arm Considering Nonlinear Static Friction of the Planetary Gear Mechanism

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