Title :
Development of a high performance direct-drive joint
Author :
Aghili, F. ; Buehler, M. ; Hollerbach, J.M.
Author_Institution :
Space Syst., Canadian Space Agency, Saint-Hubert, Que., Canada
Abstract :
This paper reports on advances in the design and development of a high performance direct-drive joint for robotics and automation. The key design aspects of the mechanical components, sensors, control architecture, and a hydraulically actuated dynamometer testbed are described. We also present a number of advanced implementations in control, motor torque control, and motion control using positive joint torque feedback. Experimental results illustrate outstanding performance regarding thermal response, torque ripple, reference trajectory tracking, torque disturbance rejection, and joint stiffness
Keywords :
dynamometers; motion control; robots; servomechanisms; test facilities; torque control; control architecture design; high-performance direct-drive joint; hydraulically actuated dynamometer testbed design; joint stiffness; mechanical component design; motor torque control; positive joint torque feedback; reference trajectory tracking; robotics; sensor design; thermal response; torque disturbance rejection; torque ripple; Automatic control; Feedback; Mechanical sensors; Motion control; Motion planning; Robotics and automation; Sensor phenomena and characterization; Testing; Torque control; Trajectory;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.895289
