Title :
Link motion feedback based force/torque servo control of robot joint with series elasticity
Author :
Sunkyum Yoo; Wan Kyun Chung
Author_Institution :
Department of Mechanical Engineering, POSTECH, Pohang 790-784, Korea
Abstract :
This paper presents an effective method to generate desired force/torque from an actuator with intrinsic compliance. Instead of direct spring deflection feedback control method, we utilize link motion information with precise actuator-side motion control to compensate undesirable effect in generation of spring force/torque. We show that the structure of proposed controller gives spring-stiffness-independent actuation bandwidth, which was conventionally known to be dependent. Comparison experimental results with conventional controller shows better force/torque tracking performance of compliant joint in both time domain and frequency domain.
Keywords :
"Actuators","Dynamics","Torque","Robustness","Robots","Servosystems","Springs"
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2015 12th International Conference on
DOI :
10.1109/URAI.2015.7358877