Art

J-GLOBAL ID：202002291448703898   Reference number：20A2542745

Back-drivability Improvement of Geared System Based on Disturbance Observer and Load-side Disturbance Observer

外乱オブザーバと負荷側外乱オブザーバに基づく歯車システムのバックドライバビリティの改善

Author (3)： Xu Shuang (Graduate School of Engineering, Yokohama National University) ,  Yokoyama Minoru (Graduate School of Engineering, Yokohama National University) ,  Shimono Tomoyuki (Faculty of Engineering, Yokohama National University)
Material： IEEJ Journal of Industry Applications  (IEEJ J Ind Appl)
Volume： 9  Issue： 5  Page： 475-485(J-STAGE)  Publication year： 2020 
JST Material Number： F1055A  ISSN： 2187-1094  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： *gearing ,  gear ,  gear drive ,  driveability ,  reverse direction ,  *control ,  torque control ,  system observer ,  robust control ,  disturbance observer ,  machine control
Semi thesaurus term： gear drive

Author keywords (4)： geared two-inertia system ,  back-drivability ,  disturbance observer ,  load-side disturbance observer

JST classification (2)： System design and analysis  (IA02030D) ,  Gears,gear units  (QB01060O)

Reference (23)：

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• (3) T. Yoshioka, A. Yabuki, Y. Yokokura, K. Ohishi, T. Miyazaki, and T. T. Phuong: “Stable Force Control of Industrial Robot Based on Spring Ratio and Instantaneous State Observer”, IEEJ Journal of Industry Applications, Vol. 5, No. 2, pp. 132-140 (2016)
• (4) K. Yamamoto, M. Ishii, H. Noborisaka, and K. Hyodo: “Stand Alone Wearable Power Assisting Suit-Sensing and Control Systems”, in Proc. IEEE Int. Workshop Robot Human Interactive Commun, pp. 661-666 (2004)
• (5) J. Rosen, J. C. Perry, N. Manning, S. Burns, and B. Hannaford: “The Human Arm Kinematics and Dynamics During Daily Activities-toward a 7 DOF Upper Limb Powered Exoskeleton”, ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, pp. 532-539 (2005)

Terms in the title (2)： 外乱オブザーバ ,  歯車システム