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Fuzzy Impedance Control Based on a Built-in Torque Sensor in Harmonic Drive Gear
Tan XW(谈晓伟); Jiang Y(姜勇); Song YF(宋屹峰); Liu GW(刘国伟); Zhu ZG(朱正国)
作者部门空间自动化技术研究室
会议名称2017 IEEE International Conference on Robotics and Biomimetics
会议日期December 5-8, 2017
会议地点Macau, China
会议主办者Beijing Institute of Technology ; City University of Hong Kong ; IEEE Robotics and Automation Society ; Shenzhen Academy of Robotics ; University of Hong Kong ; University of Macau
会议录名称Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
出版者IEEE
出版地New York
2017
页码1383-1388
收录类别EI
EI收录号20182905569749
产权排序2
ISBN号978-1-5386-3741-8
关键词Impedance Control Strain Electrical Measuring Harmonic Drive Gear Kalman Filter
摘要

To meet the intrinsically safe demands for joint torque measuring and joint compliance in collaborative manipulator (co-manipulator), a torque measuring method by using a built-in torque sensor in harmonic drive gear (HDG) has been improved. Based on that novel torque sensor, fuzzy impedance control strategy is proposed and tested in a physical experiment prototype as well. In this paper, aiming for period-varying ripple interference, which is caused by the intrinsic properties of HDG’s flexspline, a highly real-time and precise online Kalman filter algorithm is designed to mitigate this problem. Besides, an impedance control strategy, whose parameters are modified by fuzzy controller online, is proposed, and the rapidity and stability of the proposed impedance control in the interaction with unstructured environment are improved and proved by observing simulation data. The experiments’ results on physical prototype show the feasibility and effectiveness of the joint torque measuring method in this novel torque sensor and parameter-varying impedance control strategy.

语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21313
专题空间自动化技术研究室
通讯作者Tan XW(谈晓伟)
作者单位1.College of Information Science and Engineering, Northeastern University, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
推荐引用方式
GB/T 7714
Tan XW,Jiang Y,Song YF,et al. Fuzzy Impedance Control Based on a Built-in Torque Sensor in Harmonic Drive Gear[C]//Beijing Institute of Technology, City University of Hong Kong, IEEE Robotics and Automation Society, Shenzhen Academy of Robotics, University of Hong Kong, University of Macau. New York:IEEE,2017:1383-1388.
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