Abstract
The purpose of this paper is to present our results on experimental investigations on Cartesian impedance control and nonlinearity compensation for our harmonic drive robot based on joint torque sensors. The imperfection of the cubic model for harmonic drive friction is detected according to friction identification experiments. In addition, five different Cartesian impedance control schemes are considered and four of them are tested by corresponding experiments with/without friction compensation. Experimental results tell us that the force-based impedance control strategy is more suitable than the position-based strategy for the harmonic drive robot based on joint torque feedback.
| Original language | English |
|---|---|
| Pages (from-to) | 1155-1180 |
| Number of pages | 26 |
| Journal | Advanced Robotics |
| Volume | 22 |
| Issue number | 11 |
| DOIs | |
| State | Published - 1 Aug 2008 |
Keywords
- Force-based impedance control
- Friction identification
- Harmonic drive transmission
- Joint torque
- Position-based impedance control
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