Control of robot arms using joint torque sensors

Author

Zhang, Guoguang ; Furusho, Junji

Author_Institution

Dept. of Comput.-Controlled Mech. Syst., Osaka Univ., Japan

Volume

18

Issue

1

fYear

1998

fDate

2/1/1998 12:00:00 AM

Firstpage

48

Lastpage

55

Abstract

Describes a basic study of vibration control, disturbance rejection, and friction compensation in robots with flexible drive systems. First, the system gain characteristic at the antiresonance frequency is introduced to evaluate the vibratory behavior of the control system. Secondly, joint torque negative feedback is discussed. While it is shown that joint torque negative feedback has a good effect on vibration suppression, the property of disturbance rejection is easily deteriorated when a high-gain joint torque feedback is used. Based on the assignment of pole-distribution, the relationships between vibration suppression and disturbance rejection are analyzed. Thirdly, a feedforward compensation control based on a friction observer is proposed. It is shown that the tracking error is effectively decreased by this friction compensation

Keywords

compensation; feedback; feedforward; friction; manipulators; observers; pole assignment; position control; torque control; vibration control; antiresonance frequency; disturbance rejection; feedforward compensation control; flexible drive systems; friction compensation; friction observer; gain characteristic; joint torque negative feedback; joint torque sensors; pole-distribution; robot arms; tracking error; vibration control; vibratory behavior; Drives; Frequency; Friction; Manipulators; Negative feedback; Robot control; Robot sensing systems; Sensor phenomena and characterization; Torque control; Vibration control;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.648629

Filename

648629