| Budget Amount *help |
¥16,250,000 (Direct Cost: ¥12,500,000、Indirect Cost: ¥3,750,000)
Fiscal Year 2017: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2016: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
Fiscal Year 2015: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
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| Outline of Final Research Achievements |
This research project was devoted to the technological development and theoretical studies for realizing "backdrivabilization" of high-ratio geared actuators and position and force control based on it. Main pieces of the obtained results are as follows: (1) a new friction compensation technique that realizes effective friction compensation even with elastic transmission mechanisms, (2) numerical analysis on the sliding-mode noise reduction filters that we proposed earlier and the clarification of their efficacy in their applications to position and force control, and (3) a new torque-bounded admittance controller with which the robot works safely even when the actuator torque is saturated due to external forces.
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