A position sensor based torque control method for a DC motor with reduction gears

A control structure suitable for torque control using a geared DC servomotor discussed. The torque sensory feedback is advantageous for the fine torque generation by geared DC motors. However, it reduces the structural stiffness and in turn causes a low response in both the torque and position controls. To improve this, it is suggested that the natural frequency of the motor rotor position servosystem should be large. The suggestion is verified by experiments on a single-joint manipulator.<>