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

Volume

3

fYear

2000

fDate

2000

Firstpage

2151

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IROS.2000.895289

Filename

895289