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The actuators in robot joints are often equipped with reduction gears for increasing the power output. However, a high reduction ratio is required to decrease the backdrivability. In this paper, the backdrivability is improved by installing motorand load-side encoders in the reduction gear. The proposed method comprises a backdrive assist control, feedforward friction compensation, and estimation and feedback of the load-side disturbance by using a multiencoder-based disturbance observer. The angular transmission error in the reduction gear is treated as a disturbance that affects the motor. This disturbance is estimated from the motorand load-side angular accelerations, and provides feedback assistance to the backdrive. The effectiveness of the proposed method is verified through experiments.

Backdrivability Improvement Method Based on Angular Transmission Error in a High Reduction Gear