| Keywords |
Tracking Control Method ; Torque Control Method ; Step Motor ; Bilateral Symmetric Trainer |
| Abstract |
This paper poses tracking control and torque control methods to reduce torque ripple for bilateral symmetric trainers. As opposed to the conventional method, the torque control method for active joint movement is proposed. Using a step motor (PK296-03b, step angle:1.8°), a simulator for a bilateral symmetric trainer is created, and the effectiveness of the proposed control method is verified through experiment results. |