Abstract
In controlling ball-screw driven stages of machine tools, industrial robots, and welfare robots, they are modelled as two-inertia systems to consider their transmission characteristics such as low rigidity and nonlinearity. To obtain precise position at the load side, the number of devices with load-side encoders is increasing. The precise joint torque control method and the load-side torque control method for a two-inertia system with backlash are proposed. The proposed methods utilize load-side encoder information effectively. Simulation and experimental results demonstrate the advantages of proposed methods quantitatively.
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