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Torque Control of a New Lightweight Actuator Module for Robotic Applications

Schuller, Robert (2019) Torque Control of a New Lightweight Actuator Module for Robotic Applications. Other. DLR-Interner Bericht. DLR-IB-RM-OP-2019-107, 55 S.

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Abstract

Recent years have witnessed a continuous development from classic industrial robots towards lightweight robots. These compliantly controlled lightweight systems are designed to enable safe human-machine collaboration. The classical design of a robot joint consists of a drive motor, a strain wave gearing and a link-side torque sensor. A new lightweight planetary gear, developed at the German Aerospace Center (DLR) in cooperation with the gear manufacturer Neugart GmbH, enables new sensor configurations to determine the torque present in the joint. This is only made possible by the low friction and high back-drivability of the new transmission unit. The modified design of the robot joint allows to explore new torque control structures. In this work, torque controllers based on a motor-side torque sensor as well as sensorless control approaches are developed. Moreover, the dynamics of the entire drive train is modelled and this knowledge is used to improve the controller. The proposed methods are experimentally verified on a test bed. The results show that these new control structures are promising alternatives to the current established torque controllers, which utilize a link-side torque sensor.

Item URL in elib:https://elib.dlr.de/129651/
Document Type:Monograph (DLR-Interner Bericht, Other)
Title:Torque Control of a New Lightweight Actuator Module for Robotic Applications
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schuller, RobertRobert.Schuller (at) dlr.deUNSPECIFIED
Date:13 September 2019
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:55
Status:Published
Keywords:Torque Control, Lightweight Planetary Gear, Friction Modelling
Institution:Technische Universität München
Department:Lehrstuhl für Regelungstechnik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Robotdynamik & Simulation
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Schuller, Robert
Deposited On:24 Oct 2019 10:38
Last Modified:24 Oct 2019 10:38

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