Title :
Joint torque sensory feedback in the control of a PUMA manipulator
Author :
Pfeffer, Lawrence E. ; Khatib, Oussama ; Hake, John
Author_Institution :
Aerosp. Robotics Lab., Stanford Univ., CA, USA
fDate :
8/1/1989 12:00:00 AM
Abstract :
The design of a joint torque sensor for a PUMA 500 and its characteristics are described. Using this sensor, a joint torque servomechanism is designed and implemented. A model of the actuator-transmission-load system, including flexibility, is developed and verified using both time- and frequency-domain techniques. Compensators based on this model are designed and tested. Experimental results obtained from pure torque control and joint motion tracking are presented. These results demonstrate a significant reduction of the effective friction (97%) and a substantial improvement in fine motion control
Keywords :
compensation; control system synthesis; detectors; feedback; frequency-domain synthesis; position control; robots; servomechanisms; time-domain synthesis; torque control; PUMA 500; PUMA manipulator; actuator-transmission-load system; control system synthesis; fine motion control; frequency domain synthesis; joint motion tracking; joint torque sensor; joint torque servomechanism; position control; time domain synthesis; torque control; Feedback; Force control; Friction; Gears; Manipulators; Motion control; Robotic assembly; Sensor phenomena and characterization; Service robots; Torque control;
Journal_Title :
Robotics and Automation, IEEE Transactions on
