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Information Journal Paper

Title

AN ACTUATOR-LEVEL ROBUST JOINT TORQUE CONTROL OF ROBOT WITH HARMONIC DRIVE TRANSMISSION

Pages

  194-202

Keywords

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Abstract

 Motion and torque control of flexible joint robots is difficult, due to the inherent characteristics of such systems. The joint flexibility may generate resonant frequencies within the range of control bandwidth that may destabilize the system. The joint flexibility should be considered in motion control of high performance robots. This paper presents a new H¥- based torque control design method for flexible joint robots. First, a nominal torque transfer function of the joint is identified from input-output experimental tests. Second, by varying the input signal amplitude, a set of models describing the effect of nonlinearities in the system is extracted. The difference between this set and the nominal transfer function defines the uncertainty bounds for control design purposes. Third, an H - based torque control law is designed to minimize the ¥-norm of the torque transfer function. Finally, the effectiveness of the proposed torque control design method is experimentally verified on the IRIS-facility (a versatile, modular and reconfigurable prototype robot developed at the robotics and Automation Laboratory of the University of Toronto).

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    APA: Copy

    MOGHADAM, M.M., & GOLDENBERG, A.. (2003). AN ACTUATOR-LEVEL ROBUST JOINT TORQUE CONTROL OF ROBOT WITH HARMONIC DRIVE TRANSMISSION. SCIENTIA IRANICA, 10(2), 194-202. SID. https://sid.ir/paper/289460/en

    Vancouver: Copy

    MOGHADAM M.M., GOLDENBERG A.. AN ACTUATOR-LEVEL ROBUST JOINT TORQUE CONTROL OF ROBOT WITH HARMONIC DRIVE TRANSMISSION. SCIENTIA IRANICA[Internet]. 2003;10(2):194-202. Available from: https://sid.ir/paper/289460/en

    IEEE: Copy

    M.M. MOGHADAM, and A. GOLDENBERG, “AN ACTUATOR-LEVEL ROBUST JOINT TORQUE CONTROL OF ROBOT WITH HARMONIC DRIVE TRANSMISSION,” SCIENTIA IRANICA, vol. 10, no. 2, pp. 194–202, 2003, [Online]. Available: https://sid.ir/paper/289460/en

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