DocumentCode
314441
Title
Dynamics and control of direct-drive robots with positive joint torque feedback
Author
Aghili, F. ; Buehler, M. ; Hollerbach, J.M.
Author_Institution
Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
Volume
2
fYear
1997
fDate
20-25 Apr 1997
Firstpage
1156
Abstract
This paper addresses the dynamics and control of direct drive robots with positive joint torque feedback. We analytically derive the system dynamics in closed form. Even though it is coupled and nonlinear in general, it is substantially simpler than the robot link dynamics. We also derive conditions on the robot configuration which result in linear dynamics. Motion control laws for both cases are proposed
Keywords
control system synthesis; feedback; motion control; nonlinear control systems; robot dynamics; robot kinematics; torque control; direct-drive robots; dynamics; feedback; kinematic configuration; motion control; nonlinear systems; positive joint torque; Actuators; Feedback; Mechanical engineering; Nonlinear dynamical systems; Robot control; Robot sensing systems; Rotors; Synchronous motors; Torque control; Torque measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.614294
Filename
614294
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