Load Torque Control of an Electromagnetic Motor with a Reduction Gear and Motor/Load-Side Encoders

摘要

Actuators that have characteristics such as light weight and high torque-to-weight ratio and good torque control performance are desirable for finger robots and power-assist suits. Although electromagnetic motors excel in torque control performance, they have low torque-to-weight ratios, and although electromagnetic motors with reduction gears have high torque-to-weight ratios, backlash and friction degrade torque control performance. This paper therefore proposes a load torque control system using an electromagnetic motor with motor/load-side encoders. The validity of the proposed control system is verified via simulation and experiment.