| Research on Precision Assembly Robot's Joint Torque Control Based on Current Measurement |
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| 作者姓名： | 董高云 许春山 费燕琼 赵锡芳 |
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| 作者单位： | Research Institute of Robotics，Shanghai Jiaotong University，Shanghai，200030，Research Institute of Robotics，Shanghai Jiaotong University，Shanghai，200030，Research Institute of Robotics，Shanghai Jiaotong University，Shanghai，200030，Research Institute of Robotics，Shanghai Jiaotong University，Shanghai，200030 |
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| 基金项目： | Supported by the National 863 Scheme of China No.863-512-03-02 |
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| 摘 要： | A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brushless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.
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Research on Precision Assembly Robot's Joint Torque Control Based on Current Measurement |
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| DONG Gao-yun,XU Chun-sham,FEI Yan-qiong,ZHAO Xi-fang
Research Institute of Robotics,Shanghai Jiaotong University,Shanghai.Research on Precision Assembly Robot''''s Joint Torque Control Based on Current Measurement[J].Journal of Donghua University,2003,20(3). |
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| Authors: | DONG Gao-yun XU Chun-sham FEI Yan-qiong ZHAO Xi-fang
Research Institute of Robotics Shanghai Jiaotong University Shanghai |
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| Institution: | Research Institute of Robotics,Shanghai Jiaotong University,Shanghai,200030 |
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| Abstract: | A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brushless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly. |
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| Keywords: | assembly robot joint torque control current sensing |
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