Development of a fast assembly robot arm with joint torque sensory feedback control

摘要

We have developed a new robot arm with six joints that have torque sensors and geared reduction systems. This arm has compliance control ability without using a wrist force sensor. The techniques adopted here are the low friction and low gear ratio reduction system, nonlinear torque compensation, inertial torque feedforward compensation and joint torque control using joint torque sensor feedback. The experimental results show that this robot has high accuracy of trajectory in spite of large compliance, i.e. low position feedback gains. This robot can also take practical industrial tasks in high speed under uncertain positioning of works.