Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1301-1312

https://doi.org/10.1007/s12555-022-1243-9

© The International Journal of Control, Automation, and Systems

A Theoretical Conversion of Torque Controllers for Handling a Position Servo-actuated Robot Manipulator Model

Gabriela Zepeda*, Rafael Kelly, and Carmen Monroy

CICESE Research Center

Abstract

Traditional robot control theory assumes implicitly that robot manipulators are equipped with ideal torque actuators (i.e., torque-driven robots). However, it is important to note that both industrial robots and economical didactic ones do not typically feature such torque actuators. In contrast, many robotics laboratories engaged in academic and research activities employ robots equipped with position servo actuators, which do not support torque control input commands. This paper aims to bridge the gap between theory and practical implementation of robot control from an automatic control perspective. To achieve this goal, a new method is introduced for converting any torque requesting control system, designed for torque–driven robots, to be directly applied to robots using proportional embedded control with position servo actuators (servo–actuated robots lack direct torque input for control). The method relies on the inverse dynamics approach, considering the comprehensive nonlinear model of a position servo–actuated robot structure. This model encompasses servos dynamics, inheriting both the advantages and disadvantages associated with model–based control algorithms.

Keywords Actuators, control, conversion, energy, mechatronics, model, position servo, robotics, servo, shaping, torque-driven

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1301-1312

Published online April 1, 2024 https://doi.org/10.1007/s12555-022-1243-9

Copyright © The International Journal of Control, Automation, and Systems.

A Theoretical Conversion of Torque Controllers for Handling a Position Servo-actuated Robot Manipulator Model

Gabriela Zepeda*, Rafael Kelly, and Carmen Monroy

CICESE Research Center

Abstract

Traditional robot control theory assumes implicitly that robot manipulators are equipped with ideal torque actuators (i.e., torque-driven robots). However, it is important to note that both industrial robots and economical didactic ones do not typically feature such torque actuators. In contrast, many robotics laboratories engaged in academic and research activities employ robots equipped with position servo actuators, which do not support torque control input commands. This paper aims to bridge the gap between theory and practical implementation of robot control from an automatic control perspective. To achieve this goal, a new method is introduced for converting any torque requesting control system, designed for torque–driven robots, to be directly applied to robots using proportional embedded control with position servo actuators (servo–actuated robots lack direct torque input for control). The method relies on the inverse dynamics approach, considering the comprehensive nonlinear model of a position servo–actuated robot structure. This model encompasses servos dynamics, inheriting both the advantages and disadvantages associated with model–based control algorithms.

Keywords: Actuators, control, conversion, energy, mechatronics, model, position servo, robotics, servo, shaping, torque-driven

IJCAS
April 2024

Vol. 22, No. 4, pp. 1105~1460

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