Observation of load torque and auto-tuning of pd regulator for space robot servo system based on a linear driver

Rapid dynamic performance and high precision is the important aim of the space robot servo system. Changes of the load torque will influence this performance greatly in servo system. To improve the dynamic performance and ensure the motion harmony of space robot, this paper presented a state observer to observe the load torque on-line, and with the method of least peak value, the regulator parameters were tuned automatically. In addition, the linear motor driver with high-power amplifier is adopted, and it can avoid the time delay, switching noises and dead zone nonlinear of PWM driver to enhance the resolution and the precision of the servo system. The presented methods were validated through the developed experiment system.