Sensorless Torsion Control of Elastic-Joint Robots With Hysteresis and Friction

  title={Sensorless Torsion Control of Elastic-Joint Robots With Hysteresis and Friction},
  author={Michael Ruderman and Makoto Iwasaki},
  journal={IEEE Transactions on Industrial Electronics},
Sensorless torsion control is proposed for elastic-joint robots, with the geared drives subject to hysteresis and friction nonlinearities. The concept of the so-called “virtual torsion sensor” uses the motor torque and velocity, inherently available in most industrial robots, for estimating the reactive joint torque and predicting, based thereupon, the nonlinear joint torsion. The dynamics of the elastic-joint robot is described and augmented by a rate-independent torsion-torque hysteresis and… CONTINUE READING
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