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This paper focuses on load-side acceleration control of geared actuator that is modeled as a two-inertia system for industrial/non-industrial robot applications. This paper uses a load-side acceleration sensor that is capable of acquiring direct current components. Conventional load-side acceleration control has some high-frequency components due to the noise effect of an acceleration sensor due to the use of two observers that combines acceleration sensor. This paper proposes a load-side acceleration control system based on a load-side velocity disturbance observer and motor-side velocity controller for a geared actuator of an industrial robot with mechanical resonance. The proposed approach employs a motor-side velocity controller and a load-side velocity disturbance observer, which are employed to simplify the plant system, and compensate for the velocity disturbance on the load side, respectively. This approach has a structure in that the noise effect of the acceleration sensor is small compared with the conventional approach. The effectiveness of the proposed load-side acceleration controller is verified via theoretical analysis, numerical simulations, and practical experiments.

Load-side acceleration control based on load-side velocity disturbance observer for geared actuator