首页|期刊导航|东华大学学报（英文版）|Research on Precision Assembly Robot's Joint Torque Control Based on Current Measurement
东华大学学报（英文版）2003，Vol.20Issue(3)：32-37,6.
Research on Precision Assembly Robot's Joint Torque Control Based on Current Measurement
Research on Precision Assembly Robot's Joint Torque Control Based on Current Measurement
摘要
Abstract
A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brnshless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.关键词
assembly robot/joint torque control/current sensingKey words
assembly robot/joint torque control/current sensing分类
信息技术与安全科学引用本文复制引用
董高云,许春山,费燕琼,赵锡芳..Research on Precision Assembly Robot's Joint Torque Control Based on Current Measurement[J].东华大学学报（英文版）,2003,20(3):32-37,6.基金项目
Supported by the National 863 Scheme of China No. 863 -512 -03 -02 （）
