Compensation of transfer deviation on symmetry type bilateral servo mechanisms.
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- KANZAKI Kazuo
- 正会員 金沢工業大学
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- KOBAYASI Nobuaki
- 金沢工業大学
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- YAMADA Tadasi
- (株) 東京電気
Bibliographic Information
- Other Title
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- 対称形バイラテラルサーボ機構における伝達誤差の補償
- タイショウガタ バイラテラルサーボ キコウ ニ オケル デンタツ ゴサ ノ ホ
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Abstract
We have two types of the bilateral servo mechanisms utilized to force reaction type manipulater. The simple symmetry type has the larger transfer deviation. The force feedback type with the smaller transfer deviation needs troublesome force sensing devices. This paper describes the simple compensation method of transfer deviation on the symmetry-type. We found that the transfer deviation of the torque decreases by means of subtracting output of tachometer generator through PD circuit from the driving input of the opposite motor. The system is unstable when the gain constants in compensation circuits are over the limits, which are decided to equivalent mechanical inertia moment and viscous damping factor. The transfer deviation of the compensated symmetry type system is near to that of the force feedback system.
Journal
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- Journal of the Japan Society for Precision Engineering
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Journal of the Japan Society for Precision Engineering 55 (4), 754-760, 1989
The Japan Society for Precision Engineering
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Details 詳細情報について
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- CRID
- 1390001204797497088
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- NII Article ID
- 110001369937
- 10007436323
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- NII Book ID
- AN1003250X
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- ISSN
- 1882675X
- 09120289
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- NDL BIB ID
- 3231581
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed