Resonance Analysis and Unified Compliance Controller Design for Elastic Joint Robots
文献类型：会议论文
| 作者 | Ye, Yanlei; Li, Peng; Wang, Chongchong; Chen, Chin-Yin; Yang, Guilin; Zhang, Chi |
| 出版日期 | 2017 |
| 会议日期 | JUN 18-20, 2017 |
| 关键词 | IMPEDANCE CONTROL |
| 英文摘要 | In this paper, resonance frequency and a unified compliance controller with on-line gravity and friction observer compensation for elastic joint robots based on dual-encoder and the torque sensor arrangement is proposed and analyzed. In terms of the elastic joint system, a schematic diagram is described as two inertia linear spring damping systems. And then, the elastic joint could be acted as a fourth-order model (torque to motor position). Furthermore, the frequency diagrams of the torque input to the motor velocity output will be achieved by logarithmic sweep, and the resonance frequency including ARF (Anti-Resonance Frequency) and NTF (Natural Torsional Resonance Frequency) will be analyzed. Aiming at light elastic joint, a unified position and impedance controller will be achieved with dual loop construction: an outer-loop position/impedance control, and an inner-loop torque control. Moreover, it is proved by a Lyapunov function that the control law is globally asymptotically stabilizes at any reference configuration. Finally, the simulation and experimental studies reveal a better effect for the unified compliance in contrast to proportional-derivative (PD) control. |
| 会议录出版者 | IEEE Conference on Industrial Electronics and Applications |
| 学科主题 | Engineering |
| ISSN号 | 2156-2318 |
| ISBN号 | 978-1-5090-6161-7 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23374]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Ye, Yanlei,Li, Peng,Wang, Chongchong,et al. Resonance Analysis and Unified Compliance Controller Design for Elastic Joint Robots[C]. 见:. JUN 18-20, 2017. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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