Development, Implementation and Control of Active Compliance on Servo Motors in Robotics Applications

Abstract

Servo motors provide numerous benefits in robotic applications. They are small, powerful and easy to program. This paper aims to design an electronic driver for a DC servo motor for compliance usage to the human robot interaction and obstacles avoidance. The General and main aim is to Design an electronic driver for DC servo motor for compliance usage for the human robot interaction (HRI) and obstacles interaction. Firstly the main objective is to model a servo motor and to develop a full functioning standing alone software to provide compliance control. The driver must be capable of controlling the output torque (Force control Active Compliance) of the motor by setting a desired torque. Also Implementing a C library for the driver to make the end user-to-user experience able to attach the driver for any compliance robotic application.