Force Sensorless Bilateral Control for Servomotor with Drygear Cantilever Axis

The term “bilateral control” refers to two-way communication in which the master and slave robot are used to transmit both position and force data. The objective of this study is to present the mathematical model for a servomotor with Plastic Drygear Cantilever Axis. The bilateral control based on disturbance observer in force-feedback systems is applied to control interaction torque from both master and slave servomotor. As shown in the results, it is confirmed that the master robot’s displacement is similar to the slave robot’s displacement. The torque response also can be track identically with reverse direction. The advantage point of the mechanical design of Plastic Drygear Cantilever Axis is maintenance-free with high cleanliness level. This model could be used in medical technology or the food industry, where a high level of cleanliness is required.