Single-Inertialization Based on High-Backdrivability Control Using Equivalent Disturbance Compensator for Human Interaction Robot

Abstract

This study aims to improve the backdrivability of a two-inertia system by developing a single-inertia system using an equivalent disturbance compensator. This method provides a torque equivalent to the disturbance torque and provides a motor-side acceleration equivalent to the load-side acceleration caused by disturbance. The proposed method also achieves smooth backdrivability by realizing the single inertialization of the load-side inertia alone. The efficiency of the proposed method is confirmed through a transfer function, two types of real machine experiments, and simulation results.