标题：Controller Design and Experimental Validation of a Robot Joint With Active Compliance
作者：Xuan, Wenlong; Zhou, Lelai; Li, Yibin; Chai, Hui; Wang, Haiyan
作者机构：[Xuan, Wenlong; Zhou, Lelai; Li, Yibin] Shandong Univ, Sch Control Sci & Engn, Jinan, Shandong, Peoples R China.; [Chai, Hui] Shandong Univ, Sch Mec 更多
会议名称：Chinese Automation Congress (CAC)
会议日期：OCT 20-22, 2017
来源：2017 CHINESE AUTOMATION CONGRESS (CAC)
摘要：The design employs direct drive torque motor to achieve a robot single joint with active compliance based on the impedance model. hi order to maximize the torque density, transmission transparency and backdrivability, the joint employs a quasi-direct actuator that a single-stage planetary gear is mounted on the motor's rotor. When robot interacts with environments, it's inevitable to change the stiffness and damping coefficient of the joint. In view of the situation, a simple and efficient method-fuzzy control is employed and the effectiveness of the controller is verified experimentally. Finally, according to the algorithm of the outer loop position and inner loop force control, the position control of single joint is realized, and the dynamic response of the joint to the given sine position is tested experimentally.