{"title":"关节力矩传感反馈在PUMA机械手控制中的应用","authors":"L. Pfeffer, O. Khatib, J. Hake","doi":"10.1109/70.88056","DOIUrl":null,"url":null,"abstract":"Accurate control of joint forces is essential to achieve high performance in advanced assembly and other tasks that involve fine motion, active force control, or high speed operations. Joint force control can be substantially improved by sensory feedback. In this paper we present the design and describe the actual characteristics of a joint torque sensor for a PUMA 500. Using this sensor, a joint torque servo-mechanism has been designed and implemented. A model of the actuator-transmission-load system, including flexibility, was developed and verified using both time and frequency domain techniques. Compensators based on this model were designed and tested. Experimental results obtained from pure torque control and joint motion tracking are presented. These results demonstrate a significant reduction of the effective friction (97%), and substantial improvement in fine motion control.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"520 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"149","resultStr":"{\"title\":\"Joint Torque Sensory Feedback in the Control of a PUMA Manipulator\",\"authors\":\"L. Pfeffer, O. Khatib, J. Hake\",\"doi\":\"10.1109/70.88056\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Accurate control of joint forces is essential to achieve high performance in advanced assembly and other tasks that involve fine motion, active force control, or high speed operations. Joint force control can be substantially improved by sensory feedback. In this paper we present the design and describe the actual characteristics of a joint torque sensor for a PUMA 500. Using this sensor, a joint torque servo-mechanism has been designed and implemented. A model of the actuator-transmission-load system, including flexibility, was developed and verified using both time and frequency domain techniques. Compensators based on this model were designed and tested. Experimental results obtained from pure torque control and joint motion tracking are presented. These results demonstrate a significant reduction of the effective friction (97%), and substantial improvement in fine motion control.\",\"PeriodicalId\":266163,\"journal\":{\"name\":\"1986 American Control Conference\",\"volume\":\"520 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1986-06-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"149\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"1986 American Control Conference\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/70.88056\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"1986 American Control Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/70.88056","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Joint Torque Sensory Feedback in the Control of a PUMA Manipulator
Accurate control of joint forces is essential to achieve high performance in advanced assembly and other tasks that involve fine motion, active force control, or high speed operations. Joint force control can be substantially improved by sensory feedback. In this paper we present the design and describe the actual characteristics of a joint torque sensor for a PUMA 500. Using this sensor, a joint torque servo-mechanism has been designed and implemented. A model of the actuator-transmission-load system, including flexibility, was developed and verified using both time and frequency domain techniques. Compensators based on this model were designed and tested. Experimental results obtained from pure torque control and joint motion tracking are presented. These results demonstrate a significant reduction of the effective friction (97%), and substantial improvement in fine motion control.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
