Research on Precision Assembly Robot＇s Joint Torque Control Based on Current Measurement

来源 :Journal of DongHua University | 被引量 : 0次 | 上传用户：zhaoshi88

【摘要】

：

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 ou

【作者】

：

董高云许春山费燕琼赵锡芳

【机构】

：

ResearchInstituteofRobotics

【出处】

：

Journal of DongHua University

【发表日期】

：

2003年3期

【关键词】

：

装配机器人铰链转矩控制电流反应电流测量模型工业机器人 assembly robot joint torque control current se

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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 a

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Research on Precision Assembly Robot＇s Joint Torque Control Based on Current Measurement

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