DocumentCode
841555
Title
Joint torque control by a direct feedback for industrial robots
Author
Luh, J.Y.S. ; Fisher, William D. ; Paul, Richard P C
Author_Institution
Purdue University, West Lafayette, IN, USA
Volume
28
Issue
2
fYear
1983
fDate
2/1/1983 12:00:00 AM
Firstpage
153
Lastpage
161
Abstract
Based on the experimental findings of Wu and Paul [17], two joints of an industrial robot have been redesigned and fabricated to include torque sensing capability by means of strain gauges. The resulting control systems reduced the effective frictional torques of the joints from 1072 oz.in to 33.5 oz.in. The stability of the closed-loop systems was analyzed by means of the describing function for limit cycles exhibited in the system, which can be removed by an insertion of phased-lead series compensating networks.
Keywords
Manipulators; Torque control; Capacitive sensors; Control systems; Electrical equipment industry; Feedback; Industrial control; Robot sensing systems; Service robots; Stability analysis; Textile industry; Torque control;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.1983.1103215
Filename
1103215
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