东华大学学报(英文版)
東華大學學報(英文版)
동화대학학보(영문판)
JOURNAL OF DONGHUA UNIVERSITY
2003年
3期
32-37
,共6页
董高云%许春山%费燕琼%赵锡芳
董高雲%許春山%費燕瓊%趙錫芳
동고운%허춘산%비연경%조석방
assembly robot%joint torque control%current sensing
A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brnshless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.
