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Joint torque control by a direct feedback for industrial robots

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3 Author(s)
Luh, J.Y.S. ; Purdue University, West Lafayette, IN, USA ; Fisher, W.D. ; Paul, R.

Based on the experimental findings of Wu and Paul [17], two joints of an industrial robot have been redesigned and fabricated to include torque sensing capability by means of strain gauges. The resulting control systems reduced the effective frictional torques of the joints from 1072 oz.in to 33.5 oz.in. The stability of the closed-loop systems was analyzed by means of the describing function for limit cycles exhibited in the system, which can be removed by an insertion of phased-lead series compensating networks.

Published in:

Automatic Control, IEEE Transactions on  (Volume:28 ,  Issue: 2 )

Date of Publication:

Feb 1983

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