Position-controlled robots have been widely used in industrial area. However, position control is usually based on simple kinematic models which cannot compensate for the dynamics of the robot. Thus, joint torque control based on a dynamic model are preferred for most of research robots and for robots which require higher precision in position tracking or, for instance, in high-speed movements.In this talk, two alternative torque control strategies: vector control and torque-position transformer will be introduced and compared with the simulation results. And a Simulink-to-FPGA method for the hardware implementation will be presented.
Vortragsdetails
Torque Control for a Joint Actuated by a Brushless Motor
Veranstaltungsort
Raum Seminarraum 117, Robert-Hooke-Str. 5 in BremenIn der Regel sind die Vorträge Teil von Lehrveranstaltungsreihen der Universität Bremen und nicht frei zugänglich. Bei Interesse wird um Rücksprache mit dem Sekretariat unter sek-ric(at)dfki.de gebeten.
