外肢体机器人驱动单元低速死区自适应补偿方法OA北大核心CSTPCD

Io improve the control accuracy of high power density drive units in supernumerary ro-botic limbs,a low-speed dead zone adaptive compensation method was proposed.Firstly,the drive unit model was established based on the least square system identification and damping identification methods.Then,a computed torque control method for the drive units was proposed.Finally,an adap-tive compensation method for the low-speed dead zone of the drive units was proposed and verified.The experimental results show that compared with the traditional PID control method,the maximum angle tracking errors of the drive units are reduced by about 53％and the average angle tracking errors are reduced by about 38％after the computed torque control method is utilized.Based on the compu-ted torque control method,the maximum angle tracking errors of the drive units are reduced by about 45％and the average angle tracking errors are reduced by about 60％after the low-speed dead zone a-daptive compensation method is adopted.The control accuracy of the drive units is significantly im-proved.