CN115781694B - Joint module double feedforward composite control method based on double encoders - Google Patents
Joint module double feedforward composite control method based on double encoders Download PDFInfo
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Abstract
The invention discloses a joint module double feedforward composite control method based on double encoders, which comprises the following steps: correcting the position of the encoder at the load end, namely the low-speed end, of the joint module; acquiring a fitting curve of joint module transmission mechanical errors relative to the position of a load end encoder; according to a fitting curve of joint module transmission mechanical errors relative to the position of a load end encoder, feedforward compensation of the joint module transmission mechanical errors is carried out to a motor end, namely, a high-speed end input position is given; acquiring a fitting curve of the actual torque current of the joint module with respect to the position error of the double encoders; and (3) according to a fitting curve of the actual torque current of the joint module with respect to the position error of the double encoders, feedforward compensation of the torque current caused by the module load to the given torque current of the current loop of the joint module. The control method can not only improve the dynamic position transmission precision of the load end in the running state of the joint module, but also greatly improve the dynamic response performance of the speed ring of the joint module.
Description
Technical Field
The invention relates to the technical field of cooperative robot core part control, in particular to a joint module double feedforward composite control method based on a double encoder.
Background
In recent years, miniaturization and weight reduction have been a research hotspot in the field of cooperative robots that are developing at a high speed. The robot joints are more and more, the degree of freedom is higher and higher, the control structure is more and more complex, and the control precision requirement is higher and higher. The traditional mode design mechanical arm has long research and development period, poor interchangeability, exposed and easy-aging cables, easy winding and difficult fault investigation aiming at the appointed working environment. Under the condition, the integrated driving joint module is formed by integrating and assembling a harmonic reducer, a hollow permanent magnet servo motor, an encoder, a brake and a built-in miniature servo driver, and has a compact structure. However, because the inherent flexibility and mechanical transmission error characteristics of the harmonic reducer only use the position and speed feedback information of the motor end for position closed-loop control, the output positioning precision of the joint module is lower than that of the direct-drive motor, so that the high-precision encoder is arranged at the load end of the joint module to form a full-closed-loop position control system so as to compensate the inherent flexibility and mechanical transmission error of the harmonic reducer. However, the inherent mechanical transmission error characteristics of the harmonic reducer result in a relatively large dynamic position transmission error at the load end of the joint module during operation. In addition, due to the existence of the damping of the actual system, the system has a certain stability margin, the phase lag of the load end of the joint module is large, the dynamic speed tracking response of the module is restricted, and the position tracking bandwidth cannot be improved.
Disclosure of Invention
Technical problems: in view of the above, the invention provides a double-encoder-based double-feedforward composite control method for a joint module, which aims to solve the technical problems of low dynamic position transmission precision of a load end of the joint module and low speed tracking response speed caused by system damping due to inherent mechanical transmission errors of a harmonic reducer in the prior art.
The technical scheme is as follows: the invention provides a joint module double feedforward composite control method based on double encoders, which comprises the following steps:
step 3, according to the mechanical error of the joint module transmission
The joint module transmission mechanical error is feedforward compensated to a motor end, namely, the input position of a high-speed end is given in advance by a fitting curve of the position of a load end encoder;
Wherein,,
the double feedforward composite control specifically comprises joint module transmission mechanical error position feedforward compensation control and joint module torque current feedforward compensation control.
The double encoders are respectively a joint module load end, namely a low-speed end encoder and a motor end, namely a high-speed end encoder, the load end, namely the low-speed end encoder, is a single-circle high-precision absolute value encoder, and the motor end, namely the high-speed end encoder, is a common multi-circle absolute value encoder.
1.1, operating a joint module in a full closed loop position control mode with a load end encoder as position feedback;
1.2, giving an absolute position instruction of a load end of a joint module by an upper computer, and acquiring a fitting curve of an actual error of the load end of the joint module relative to the absolute position instruction of the load end by 0-360 degrees by means of a laser interferometer;
1.3, correcting the position of the joint module load end encoder based on the fitting curve;
1.4, running the joint module in a full-closed loop position control mode with the corrected load end encoder as position feedback again;
1.5, acquiring a fitting curve of the actual error of the load end of the joint module with respect to the absolute position instruction of the load end again, and further carrying out position correction on the encoder of the load end of the joint module based on the fitting curve;
1.6, repeating the steps until the actual error of the joint module load end within 0-360 degrees obtained by the laser interferometer is kept within +/-1 angular second.
2.1, placing the joint module in an idle state;
2.2, acquiring the position of the encoder at the load end of the joint module
And motor end encoder position->
；
2.3, in the initial position state of the joint module, the position of the load end encoder is determined
And motor end encoder position
Simultaneously clearing;
2.4, operating the joint module in a full closed loop position control mode with a load end encoder as position feedback;
2.5, calculating the transmission mechanical error of the joint module
：
2.6, giving an absolute position instruction of the load end of the joint module by the upper computer to enable the load end to rotate at a low speed for one circle, and acquiring a transmission mechanical error of the joint module within 0-360 degrees by the upper computer
End-braiding with respect to loadEncoder position->
Fitting curve +.>
。
Step 3, according to the mechanical error of the joint module transmission
The fitting curve of the encoder position at the load end is used for compensating the feedforward of the mechanical error of the joint module transmission to the input position of the motor end in advance, and the fitting curve specifically comprises the following steps:
3.1, obtaining the position instruction of the load end of the given joint module of the upper computer
；
3.2, obtaining the position of the encoder at the load end of the joint module
And motor end encoder position->
；
3.3, obtaining the position of the encoder at the load end of the joint module
Regarding the upper computer to give the position instruction of the joint module load end +.>
Error of->
：
3.4, according to the mechanical error of the joint module transmission
With respect toLoad side encoder position->
Fitting curve +.>
Advance transmission mechanical error->
Feedforward compensation is carried out until the input position of the motor end is given;
3.5, calculating the input position setting of the motor end of the joint module position ring
：
3.6, calculating the position loop output of the joint module
：
The joint module position ring outputs
Calculating the position loop output of the joint module>
Then, taking the uncertainty of the mechanical transmission error waveform and the amplitude of the joint module into consideration, the joint module position loop outputs +.>
Cannot be directly used for setting a speed ring of a joint module, and needs to output +.>
Filtering, then sending into a joint module speed loop for setting, so as to prevent mechanical vibration of the system caused by given vibration of the input position in the operation process of the joint module.
4.1, placing the joint module in an idle state;
4.2, acquiring the position of the encoder at the load end of the joint module
And motor end encoder position->
；
4.3, in the initial position state of the joint module, the load end encoder is positioned
And motor end encoder position
Simultaneously clearing;
4.4, operating the joint module in a full-closed loop position control mode with a motor end encoder as position feedback, and enabling the joint module to perform position locking shaft processing;
4.5, adding a pendulum load at the load end of the joint module in a lock shaft state, and obtaining the actual torque current of the joint module after the position ring is stable
Calculating the position of the encoder at the load end of the joint module>
And motor end encoder position->
Error of->
：
4.6, changing the load of the pendulum bob, and recording the actual torque current of the joint module
And double encoder position error
；/>
4.7, repeatedly changing the load of the pendulum bob, and recording the actual torque current of the joint module
From 0 to 3 times the rated torque current +.>
Multiple-point double encoder position error +.>
；
4.8, obtaining the actual torque and current of the joint module
From 0 to 3 times the rated torque current +.>
Actual torque current in the range +.>
Error regarding double encoder position>
Fitting curve +.>
。
5.1 acquiring the position of the encoder at the load end of the Joint Module
And motor end encoder position->
；
5.2 calculating the position of the encoder at the load end of the Joint Module
And motor end encoder position->
Error of (2)
：
5.3, according to the actual torque current of the joint module
Error regarding double encoder position>
Is a fitting curve of (2)
The torque current caused by the load is compensated to the given torque current of the current loop of the joint module in a feedforward way;
5.4, calculating the torque and current given by the joint module
：
The joint module torque current is given
Calculating the torque current of the joint module set to be given +.>
Then, taking into account the actual torque current of the joint module +.>
Error regarding double encoder position>
Discontinuity of the fitted curve, said joint module torque current given +.>
Can not be directly used for jointsA module current loop input is given, and the torque current of the joint module is required to be given +.>
And after filtering treatment, the filtered signals are sent into a current loop of the joint module to be input into a given set so as to prevent system mechanical vibration caused by torque current given vibration in the operation process of the joint module.
The beneficial effects are that: according to the joint module double feedforward composite control method based on the double encoders, the joint module transmission mechanical error is feedforward compensated to a motor end (high-speed end) position given in advance according to a fitting curve of the joint module transmission mechanical error relative to the load end (low-speed end) encoder position; and (3) according to a fitting curve of the actual torque current of the joint module with respect to the position error of the double encoders, feedforward compensation of the torque current caused by the module load to the given torque current of the current loop of the joint module. The control method can not only improve the dynamic position transmission precision of the load end in the running state of the joint module, but also greatly improve the dynamic response performance of the speed ring of the joint module.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and should not be construed as limiting the invention in any way, in which:
FIG. 1 shows an overall flow chart of a dual encoder-based dual feed-forward composite control method for a joint module in accordance with an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
The embodiment of the invention provides a joint module double feedforward composite control method based on a double encoder, which is shown in fig. 1 and comprises the following steps:
step S1, correcting the position of encoder at the load end, i.e. the low-speed end, of the joint module
；
In this embodiment, the joint module load end encoder position is corrected
The purpose is in order to compensate the influence that mechanical installation error caused to the absolute accuracy of load end encoder, guarantees that the reading of joint module load end encoder can accurate feedback joint module load end's position.
S2, acquiring a joint module transmission mechanical error
Regarding load side encoder position->
Fitting curve +.>
；
Step S3, driving mechanical errors according to the joint module
The joint module transmission mechanical error is feedforward compensated to a motor end, namely a high-speed end position is given in advance by a fitting curve of the position of a load end encoder;
s4, obtaining actual torque and current of the joint module
Error regarding double encoder position>
Fitting curve +.>
；
In this embodiment, the dual encoders are a joint module load end encoder and a motor end encoder, respectively, and the load end encoder is a single-turn high-precision absolute value encoder, and the motor end encoder is a common multi-turn absolute value encoder.
Step S5, according to the actual torque current of the joint module
Error regarding double encoder position>
The torque current caused by the load is feedforward compensated to the given torque current of the current loop of the joint module in advance.
As an alternative embodiment, step S1 includes:
step S11, the joint module is operated in a full-closed loop position control mode with a load end encoder as position feedback;
step S12, giving an absolute position instruction of a load end of a joint module by an upper computer, and acquiring a fitting curve of an actual error of the load end of the joint module relative to the absolute position instruction (0-360 DEG) of the load end by means of a laser interferometer;
s13, performing position correction on the joint module load end encoder based on the fitting curve;
step S14, the joint module is operated in a full-closed loop position control mode with the corrected load end encoder as position feedback;
step S15, obtaining a fitting curve of the actual error of the load end of the joint module with respect to the absolute position instruction of the load end again, and further carrying out position correction on the encoder of the load end of the joint module based on the fitting curve;
and S16, repeating the steps until the actual error of the joint module load end within 0-360 degrees obtained by the laser interferometer is kept within +/-1 angular second.
As an alternative embodiment, step S12 includes:
step S121, equally dividing the load end of the joint module into 72 parts, wherein the load end has one part per 5-degree mechanical angle;
step S122, assuming that the encoder at the load end of the joint module is a high-precision absolute value encoder with the resolution of 24 bits, after the encoder at the load end of the current joint module is cleared, the upper computer gives an absolute position instruction that the load end of the joint module gradually increases by 233017 each time, so that the load end of the joint module runs 5 degrees each time and runs 72 times in total;
step S123, the actual error of the load end of the joint module and the absolute position instruction of the load end obtained by the laser interferometer after each load end is positioned are made into a table containing 72 points, and finally fitting curve processing is carried out on the 72 points.
As an alternative embodiment, step S2 includes:
step S21, placing the joint module in an idle state;
step S22, obtaining the position of the encoder at the load end of the joint module
And motor end encoder position->
；
Step S23, in the initial position state of the joint module, the position of the load end encoder is determined
And motor end encoder position->
Simultaneously clearing;
step S24, the joint module is operated in a full-closed loop position control mode with a load end encoder as position feedback;
step S25, calculating the transmission mechanical error of the joint module
：
Step S26, giving an absolute position instruction of a joint module load end through the upper computer to enable the joint module load end to rotate at a low speed for one circle, and acquiring a transmission mechanical error of the joint module within 0-360 degrees through the upper computer
Regarding load side encoder position->
Fitting curve +.>
。
As an alternative embodiment, step S3 includes:
step S31, obtaining a position instruction of a load end of a given joint module of the upper computer
；
Step S32, obtaining the position of the encoder at the load end of the joint module
And motor end encoder position->
；
Step S33, obtaining the encoder position of the load end of the joint module
Regarding the upper computer to give the position instruction of the joint module load end +.>
Error of->
：
Step S34, driving mechanical errors according to the joint module
Regarding load side encoder position->
Fitting curve +.>
Advance transmission mechanical error->
Feedforward compensation is carried out to a motor end;
step S35, calculating the input position setting of the motor end of the joint module position ring
：
Step S36, calculating the position loop output of the joint module
：
As an alternative embodiment, consider the mechanical transmission error waveform of the joint module and the amplitude magnitude of the mechanical transmission error waveformDeterministic, circular output at the computing joint module position
Afterwards, the joint module position ring outputs +.>
Can not be directly used for setting the speed ring of the joint module, and needs to output +.>
And after certain filtering treatment, the obtained product is sent into a joint module speed ring for giving so as to prevent system mechanical vibration caused by given vibration of an input position in the operation process of the joint module, wherein a simple smoothing filtering treatment algorithm is selected as the filtering treatment mode.
As an alternative embodiment, step S4 includes:
step S41, placing the joint module in an idle state;
step S42, obtaining the encoder position of the load end of the joint module
And motor end encoder position->
；
Step S43, in the initial position state of the joint module, the position of the load end encoder is determined
And motor end encoder position->
Simultaneously clearing;
step S44, the joint module is operated in a full-closed loop position control mode with a motor end encoder as position feedback, and position locking shaft processing is carried out on the joint module;
step S45, adding a pendulum load at the load end of the joint module in a lock shaft state, and obtaining the actual torque current of the joint module after the position ring is stable
Calculating the position of the encoder at the load end of the joint module>
And motor end encoder position->
Error of->
：
Step S46, replacing the pendulum load and recording the actual torque current of the joint module
And double encoder position error
；
Step S47, repeatedly replacing the pendulum load and recording the actual torque current of the joint module
From 0 to 3 times the rated torque current +.>
Multiple-point double encoder position error +.>
；
Step S48, obtaining the actual torque and current of the joint module
From 0 to 3 times the rated torque current +.>
Actual torque current in the range +.>
Error regarding double encoder position>
Fitting curve +.>
。
As an alternative embodiment, step S5 includes:
step S51, obtaining the position of the encoder at the load end of the joint module
And motor end encoder position->
；
Step S52, calculating the encoder position at the load end of the joint module
And motor end encoder position->
Error of (2)
：
Step S53, according to the actual torque current of the joint module
Error regarding double encoder position>
Fitting curve +.>
The torque current caused by the load is compensated to a current loop of the joint module in advance;
step S54, calculating the torque and current set of the joint module
：
Wherein:
a given current is output for the joint module speed loop PI regulator.
As an alternative embodiment, consider the actual torque current of the joint module
Error regarding double encoder position>
The discontinuity of the fitting curve is calculated for the joint module torque current given +.>
Afterwards, the joint module torque current is given +.>
Cannot be directly used for the input setting of a current loop of a joint module, and needs to set the torque current of the joint module to be +.>
And after certain filtering treatment, the obtained product is sent into a current loop of the joint module to be input into a given set so as to prevent system mechanical vibration caused by torque current given vibration in the operation process of the joint module.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations are within the scope of the invention as defined by the appended claims.
Claims (7)
1. The joint module double feedforward composite control method based on the double encoder is characterized by comprising the following steps:
step 1, correcting the encoder position P at the load end, i.e. the low-speed end, of the joint module load The method comprises the steps of carrying out a first treatment on the surface of the Compensating the influence of mechanical installation errors on the absolute precision of a load end encoder, namely a low-speed end encoder;
step 2, obtaining the transmission mechanical error P of the joint module trans_err With respect to load side encoder position P load Is a fitting curve of (a);
step 3, according to the joint module transmission mechanical error P trans_err The joint module transmission mechanical error is feedforward compensated to a motor end, namely, the input position of a high-speed end is given in advance by a fitting curve of the position of a load end encoder;
step 4, obtaining the actual torque current i of the joint module q With respect to double encoder position error P enc_err Is a fitting curve of (a);
step 5, according to the actual torque current i of the joint module q With respect to double encoder position error P enc_err The torque current feedforward caused by the load is compensated to the given torque current of the current loop of the joint module in advance by the fitting curve of the joint module;
the double feedforward composite control specifically comprises joint module transmission mechanical error position feedforward compensation control and joint module torque current feedforward compensation control;
the double encoders are respectively a joint module load end, namely a low-speed end encoder and a motor end, namely a high-speed end encoder, wherein the load end, namely the low-speed end encoder, is a single-circle high-precision absolute value encoder, and the motor end, namely the high-speed end encoder, is a common multi-circle absolute value encoder;
step 1, correcting the encoder position P at the load end, i.e., the low-speed end, of the joint module load The method specifically comprises the following steps:
1.1, operating a joint module in a full closed loop position control mode with a load end encoder as position feedback;
1.2, giving an absolute position instruction of a load end of a joint module by an upper computer, and acquiring a fitting curve of an actual error of the load end of the joint module relative to the absolute position instruction of the load end by 0-360 degrees by means of a laser interferometer;
1.3, correcting the position of the joint module load end encoder based on the fitting curve;
1.4, running the joint module in a full-closed loop position control mode with the corrected load end encoder as position feedback again;
1.5, acquiring a fitting curve of the actual error of the load end of the joint module with respect to the absolute position instruction of the load end again, and further carrying out position correction on the encoder of the load end of the joint module based on the fitting curve;
1.6, repeating the steps until the actual error of the joint module load end within 0-360 degrees obtained by the laser interferometer is kept within +/-1 angular second.
2. The dual-encoder-based joint module dual-feedforward composite control method of claim 1, wherein step 2 is performed to obtain the joint module transmission mechanical error P trans_err With respect to load side encoder position P load Specifically including:
2.1, placing the joint module in an idle state;
2.2, acquiring the position P of the encoder at the load end of the joint module load And motor end encoder position P motor ；
2.3, in the initial position state of the joint module, the load end encoder position P load And motor end encoder position P motor Simultaneously clearing;
2.4, operating the joint module in a full closed loop position control mode with a load end encoder as position feedback;
2.5, calculating the transmission mechanical error P of the joint module trans_err ：
P trans_err ＝P motor /K gear -P load
Wherein: k (K) gear The reduction ratio of the joint module is set;
2.6, giving an absolute position instruction of the load end of the joint module by the upper computer to enable the load end to rotate at a low speed for one circle, and acquiring and obtaining the absolute position instruction within 0-360 DEG by the upper computerMechanical error P of joint module transmission trans_err With respect to load side encoder position P load Is a fitting curve P of (2) trans_err ＝f(P load )。
3. The dual-encoder-based joint module dual-feedforward composite control method of claim 1, wherein in step 3, the mechanical error P is transmitted according to the joint module trans_err The fitting curve of the encoder position at the load end is used for compensating the feedforward of the mechanical error of the joint module transmission to the input position of the motor end in advance, and the fitting curve specifically comprises the following steps:
3.1, obtaining a position instruction P of a load end of a given joint module of the upper computer give_load ；
3.2, obtaining the position P of the encoder at the load end of the joint module load And motor end encoder position P motor ；
3.3, obtaining the position P of the encoder at the load end of the joint module load Position instruction P of given joint module load end of upper computer give_load Error P of (2) load_err ：
P load_err ＝P give_load -P load ；
3.4, according to the joint module transmission mechanical error P trans_err With respect to load side encoder position P load Is a fitting curve P of (2) trans_err ＝f(P load ) Advance of transmission mechanical error P trans_err Feedforward compensation is carried out until the input position of the motor end is given;
3.5, calculating the input position given P of the motor end of the joint module position ring give_motor ：
P give_motor ＝P give_load *K gear +P trans_err *K gear +P load_err *K gear
＝(P give_load +f(P load )+P load_err )*K gear
Wherein: k (K) gear The reduction ratio of the joint module is set;
3.6, calculating the position loop output omega of the joint module r_give ：
ω r_give ＝(P give_motor -P motor )*K P +ΔP give_motor *K fd
Wherein: ΔP give_motor Giving a difference value K for the input position of the periodic motor end at the adjacent position of the joint module p For the joint module position ring proportional gain, K fd Is a feed-forward coefficient of the joint module position loop.
4. The dual encoder-based joint module dual feed-forward compound control method of claim 3, wherein the joint module position loop outputs ω r_give Calculating the position ring output omega of the joint module r_give Then, considering the uncertainty of the mechanical transmission error waveform and the amplitude of the joint module, the joint module position ring outputs omega r_give Cannot be directly used for the given speed ring of the joint module, and requires omega output to the position ring of the joint module r_give Filtering, then sending into a joint module speed loop for setting, so as to prevent mechanical vibration of the system caused by given vibration of the input position in the operation process of the joint module.
5. The dual-encoder-based joint module dual-feedforward composite control method of claim 1, wherein step 4 is performed by obtaining the actual torque current i of the joint module q With respect to double encoder position error P enc_err Specifically including:
4.1, placing the joint module in an idle state;
4.2, acquiring the position P of the encoder at the load end of the joint module load And motor end encoder position P motor ；
4.3, in the initial position state of the joint module, the load end encoder position P load And motor end encoder position P motor Simultaneously clearing;
4.4, operating the joint module in a full-closed loop position control mode with a motor end encoder as position feedback, and enabling the joint module to perform position locking shaft processing;
4.5, adding a pendulum load at the load end of the joint module in a lock shaft state, and obtaining the actual torque current i of the joint module after the position ring is stable q Calculating the position P of the encoder at the load end of the joint module load With motor end encoder position P motor Error P of (2) enc_err ：
P enc_err ＝P load -P motor /K gear
4.6, changing the load of the pendulum bob, and recording the actual torque current i of the joint module q And double encoder position error P enc_err ；
4.7, repeatedly changing the load of the pendulum bob, and recording the actual torque current i of the joint module from 0 to 3 times of rated torque current i qN Multiple point double encoder position error P enc_err ；
4.8, obtaining the actual torque current i of the joint module q From 0 to 3 times the rated torque current i qN Actual torque current i in the range q With respect to double encoder position error P enc_err Is a fitting curve i of (2) q ＝g(P enc_err )。
6. The dual-encoder-based joint module dual-feedforward composite control method of claim 1, wherein in step 5, the actual torque current i of the joint module is determined q With respect to double encoder position error P enc_err The method comprises the steps of compensating torque current feedforward caused by load to a joint module current loop torque current given in advance, and specifically comprises the following steps:
5.1 acquiring the encoder position P at the load end of the Joint Module load And motor end encoder position P motor ；
5.2 calculating the encoder position P at the load end of the Joint Module load With motor end encoder position P motor Error P of (2) enc_err ：
P enc_err ＝P load -P motor /K gear
5.3, according to the actual torque current i of the joint module q With respect to double encoder position error P enc_err Fitting of (a)Curve i q ＝g(P enc_err ) The torque current caused by the load is compensated to the given torque current of the current loop of the joint module in a feedforward way;
5.4, calculating the torque current given i of the joint module q_give ：
i q_give ＝i q_PI +g(P enc_err )
Wherein: i.e q_PI A given current is output for the joint module speed loop PI regulator.
7. The dual encoder-based joint module dual feed-forward composite control method of claim 6, wherein the joint module torque current is given by i q_give In calculating the torque current of the joint module set, the torque current is given as i q_give Then, taking into account the actual torque current i of the joint module q With respect to double encoder position error P enc_err Discontinuity of fitting curve, the torque current of the joint module is given by i q_give Cannot be directly used for input and giving of current loop of joint module, and needs to give torque and current of the joint module q_give And after filtering treatment, the filtered signals are sent into a current loop of the joint module to be input into a given set so as to prevent system mechanical vibration caused by torque current given vibration in the operation process of the joint module.
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