DocumentCode :
3021461
Title :
High-fidelity joint drive system by torque feedback control using high precision linear encoder
Author :
Kawakami, Tomohiro ; Ayusawa, Ko ; Kaminaga, Hiroshi ; Nakamura, Yoshihiko
Author_Institution :
Dept. of Mechano-Inf., Univ. of Tokyo, Tokyo, Japan
fYear :
2010
fDate :
3-7 May 2010
Firstpage :
3904
Lastpage :
3909
Abstract :
When robots cooperate with humans it is necessary for robots to move safely on sudden impact. Joint torque sensing is vital for robots to realize safe behavior and enhance physical performance. Firstly, this paper describes a new torque sensor with linear encoders which demonstrates electro magnetic noise immunity and is unaffected temperature changes. Secondly, we propose a friction compensation method using a disturbance observer to improve the positioning accuracy. In addition, we describe a torque feedback control method which scales down the motor inertia and enhances the joint flexibility. Experimental results of the proposed controller are presented.
Keywords :
feedback; position control; robot dynamics; torque control; disturbance observer; electro magnetic noise immunity; friction compensation method; high fidelity joint drive system; high precision linear encoder; joint torque sensing; motor inertia; positioning accuracy; robots; torque feedback control; Capacitive sensors; Distortion measurement; Feedback control; Friction; Humanoid robots; Magnetic field induced strain; Magnetic noise; Magnetic sensors; Strain measurement; Torque measurement;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
ISSN :
1050-4729
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2010.5509625
Filename :
5509625
Link To Document :
بازگشت