Design and experimental analysis of embedded servo motor driver for robot finger joints

This paper presents the development of ultra compact AC servo motor drivers, which drives humanoid robot fingers. To be embedded in robot finger or robot palm, the size(22mm × 32mm) and weight(approximately 5.2g) should be small while the performance is kept good. The developed servo motor drivers show enough performance in speed control mode and torque control mode. But, after assembled motors and reduction gear, the finger joints show some stick-slip in torque control mode at very low rotational speed. To reduce this phenomena, the external force/torque sensors are needed for pinching motion. The drivers are assembled as a humanoid robot hands and shows better performance than the hands made by blushless DC motors.