Title :
Joint torque control by a direct feedback for industrial robots
Author :
Luh, J.Y.S. ; Fisher, W.D. ; Paul, R.P.C.
Author_Institution :
Purdue University, West Lafayette, Indiana
Abstract :
Two joints of an industrial robot have been redesigned and fabricated to include torque sensing capability by means of strain gauges. The resulting control systems reduced the effective frictional torques of the joints from 1072 oz.-inches to 33.5 oz-inches. The stability of the closed-loop systems was analyzed by means of the describing function for limit cycles exhibited in the system, which can be removed by an insertion of phased-lead series compensating networks.
Keywords :
Capacitive sensors; Control systems; Electrical equipment industry; Feedback; Industrial control; Robot sensing systems; Service robots; Stability analysis; Textile industry; Torque control;
Conference_Titel :
Decision and Control including the Symposium on Adaptive Processes, 1981 20th IEEE Conference on
Conference_Location :
San Diego, CA, USA
DOI :
10.1109/CDC.1981.269526
