Force control of direct-drive robot

Y. Kawasumi, T. Murakami, K. Ohnishi

Research output: Contribution to conferencePaper

Abstract

This paper deals with a torque-position hybrid control of direct-drive robot. The tested robot has three-degrees-of-freedom and each joint has a direct-drive AC motor with a high resolution encoder. A direct-drive of each link realizes high precision task because no transmission exists between the shaft of the motor and the link. On the contrary, the interactive forces give significant effects to the joint motion as the equivalent gear ratio is unity. It is essential to reduce these interactive terms in realization of direct-drive robot. Here, a disturbance observer which estimates a disturbance torque is applied to a motion control system, and an acceleration-based torque controller is realized in the force task.

Original languageEnglish
Pages199-204
Number of pages6
Publication statusPublished - 1991 Jan 1
EventProceedings of the 11th Triennial World Congress of the International Federation of Automatic Control - Tallinn, USSR
Duration: 1990 Aug 131990 Aug 17

Other

OtherProceedings of the 11th Triennial World Congress of the International Federation of Automatic Control
CityTallinn, USSR
Period90/8/1390/8/17

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint Dive into the research topics of 'Force control of direct-drive robot'. Together they form a unique fingerprint.

  • Cite this

    Kawasumi, Y., Murakami, T., & Ohnishi, K. (1991). Force control of direct-drive robot. 199-204. Paper presented at Proceedings of the 11th Triennial World Congress of the International Federation of Automatic Control, Tallinn, USSR, .