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
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;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614294
