Force-reflecting master-slave control and robotic control of a traction-drive differential pitch-yaw joint

摘要

A master-slave control algorithm and a Proportional-Integral (PI) robotic control algorithm were developed and implemented for a traction-drive differential, pitch-yaw joint using torque, velocity, and position feedback. To make the drive trains' performance less sensitive to load variations, a basic proportional control loop using a torque sensor with an inner velocity loop was developed. Next, output position loops were constructed by feeding back drive-train angles determined from kinematically decoupled pitch and yaw position measurements. A robotic-mode, PI control action was implemented on the position error and experimental results were compared with simulated results for step and ramp inputs. Master-slave operation was demonstrated using proportional position control loops for each of two test stands. Experimental results showed that the control loops exhibited satisfactory robotic and master-slave performance.