Torque Estimation for Robotic Joint With Harmonic Reducer Based on Deformation Calibration

Song, Yanshu; Huang, Hailin; Liu, Fei; Xi, Fengfeng; Zhou, Dunyi; Li, Bing

doi:10.1109/jsen.2019.2944975

Cited by 17 publications

(2 citation statements)

References 32 publications

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“…Calculation results showed that the developed method can facilitate the design and manufacturing of the harmonic reducer. Song et al [16] put forward two methods for estimating the output torque of robotic joint with harmonic reducers via calibration of its existing flexibility. The estimated torque values using these two methods were in good agreement with the results measured using a commercial torque sensor.…”

Section: Introductionmentioning

confidence: 99%

Dynamic simulation analysis and experimental study of an industrial robot with novel joint reducers

et al. 2022

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Zero-backlash high precision roller enveloping reducers (ZHPRER) possess a wide array of potential applications in the field of industrial robot because of their high precision and efficiency. This paper presents a pilot study to verify the applicability of this type of reducers in industrial robots. An industrial robot was designed, whose joint reducers were the roller enveloping reducers. A dynamic model for this robot which accounts for the dynamic responses of the reducers was also established using multibody dynamics. This dynamic model was then used for analyzing the dynamic behavior of the joint reducers and the body of the robot under different operating conditions. Simulation results yielded from the developed model were verified by comparing them with the data obtained from experiments. The present study for the first time confirms the evident advantages of ZHPRER for industrial robotic applications. Meanwhile, the proposed dynamic model for the industrial robot provides theoretical support for the subsequent design of error compensation control.

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Section: Introductionmentioning

confidence: 99%

Dynamic simulation analysis and experimental study of an industrial robot with novel joint reducers

et al. 2022

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“…The impact of the joint stiffness to model the influence of the weight of links on an end-effector has long been studied [16]- [18]. The elastic deformation of a link has also been studied [19], [20]. The inclusion of the rotary axis backlash has also been popularly studied [21], [22].Wu et al [23] presented an iterative learning method to study the impact of acceleration, velocity, position, and constant correlation matrices.…”

Section: Introductionmentioning

confidence: 99%

Inclusion of Bidirectional Angular Positioning Deviations in the Kinematic Model of a Six-DOF Articulated Robot for Static Volumetric Error Compensation

Alam

Ibaraki

Fukuda

et al. 2022

IEEE/ASME Trans. Mechatron.

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Adaptive fast terminal sliding mode control of robotic manipulators based on joint torque estimation and friction compensation

Hu,

Wan,

Liang

2024

Intl J Robust & Nonlinear

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In this work, an adaptive fast terminal sliding mode control (AFSMC) approach based on joint torque estimation and friction compensation is proposed to enhance the trajectory tracking accuracy of robotic manipulators under variable load conditions. The joint torque estimation utilizes an improved harmonic drive compliance model and adaptive low‐pass filtering, and friction compensation employs a hybrid model accounting for velocity and load torque effects. These compensations reduce the upper bound of the uncertainty, while AFSMC further reduces dependency on upper uncertainty bounds and minimizes the chattering. The stability analysis using the Lyapunov method confirms the effectiveness of this approach. Experimental results demonstrate that the proposed controller achieves smaller root mean square and maximum error of trajectory tracking, thus significantly improving trajectory tracking accuracy under variable load conditions.

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Torque Estimation for Robotic Joint With Harmonic Reducer Based on Deformation Calibration

Cited by 17 publications

References 32 publications

Dynamic simulation analysis and experimental study of an industrial robot with novel joint reducers

Dynamic simulation analysis and experimental study of an industrial robot with novel joint reducers

Inclusion of Bidirectional Angular Positioning Deviations in the Kinematic Model of a Six-DOF Articulated Robot for Static Volumetric Error Compensation

Adaptive fast terminal sliding mode control of robotic manipulators based on joint torque estimation and friction compensation

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