Impedance Control of High-Precision Geared Servo Drives with Two Motors for Technological Robots

摘要

The article discusses the possibility and advisability of application of high precision geared servo drives with two motors for milling, drilling and deburring by technological robots. We conducted an analysis of the dynamic properties of drives containing elastic mechanical transmission with backlash. We offered advice on selecting of the structure and parameters of regulators. The results of the theoretical research and computer simulation confirm the high precision of movements and the effectiveness of the proposed algorithms of impedance control, which considerably improves dynamic properties of drives of technological robots.