Torque Control for a Joint Actuated by a Brushless Motor

Position-controlled robots have been widely used in industrial area. However, po- sition 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. This is an introductory talk for my master thesis which aims at evaluating two alter- native torque control strategies for a robot joint composed of a brushless motor and harmonic drive. A torque control based on a vector control technique for the brush- less DC motor will be implemented in simulation at rst. Then, a torque to-position transformer will be added to the existing joint position control of AILA. The nal results will be implemented and tested on the real joint.

In 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.

last updated 31.03.2023