Compensation of Transfer Deviation on Symmetry Type Bilateral Servo Mechanism
Kazuo Kanzaki*, Nobuaki Kobayashi* and Tadashi Yamada**
* Kanazawa Institute of Technology
** Tokyo Electric Co., Ltd.(Presently Seiko Epson Corporation)
There are two types of bilateral servo mechanisms utilized in force reaction type manipulators. The simple symmetry type has the larger transfer deviation. The force feedback type with the smaller transfer deviation requires troublesome force sensing devices. This paper describes a simple compensation method of transfer deviation on the symmetry-type. We found that transfer deviation of the torque decreases by means of subtracting tachometer generator output through a 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 determined as 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.