COMPARISON OF TWO-INERTIA SYSTEMS WITH TORQUE/ACCELERATION FEEDBACKS

摘要

Most robots are driven through reduction gear units. Because of the flexibility of the drive system, the vibratory behavior is caused. The drive system of the robot joint can be modeled as a two-inertia system. In this paper, we consider the two-inertia system with the torque, motor-acceleration and load-acceleration feedbacks. First, it is explained that the inertia-ratio is a very important factor. Second, it is shown that these feedbacks can change the inertia-ratio. Next, the performances of I-P speed control systems with feedbacks are compared. Finally, the experiments are performed. As a result, the torsion vibrations are suppressed effectively.