期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 63, 期 3, 页码 1889-1899出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2015.2453415
关键词
Elastic-joint robots; friction; hysteresis; motion control; nonlinearity; robot dynamics; robotics; torsion control
资金
- Grants-in-Aid for Scientific Research [16K06413] Funding Source: KAKEN
Sensorless torsion control is proposed for elastic-joint robots, with the geared drives subject to hysteresis and friction nonlinearities. The concept of the so-called virtual torsion sensor uses the motor torque and velocity, inherently available in most industrial robots, for estimating the reactive joint torque and predicting, based thereupon, the nonlinear joint torsion. The dynamics of the elastic-joint robot is described and augmented by a rate-independent torsion-torque hysteresis and nonlinear friction assumed on the side of motor drives. The classical two-degrees-of-freedom robot control, which includes the centralized torque feedforward control and proportional-derivative feedback control, is extended by the virtual torsion sensor in the loop. In particular, we show that the computed joint torsion can be injected in the feedback loop upon the motor position, thus making the control operating in a virtual joint output (link) space. The proposed control is experimentally evaluated on a single-joint setup consisting of an actuator with harmonic-drive gear and inertial load under additional impact of gravity.
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