DE102010045554B4 - Integriertes Hochgeschwindigkeitsdrehmomentregelsystem für ein Robotergelenk - Google Patents

Integriertes Hochgeschwindigkeitsdrehmomentregelsystem für ein Robotergelenk Download PDF

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Publication number
DE102010045554B4
DE102010045554B4 DE102010045554.7A DE102010045554A DE102010045554B4 DE 102010045554 B4 DE102010045554 B4 DE 102010045554B4 DE 102010045554 A DE102010045554 A DE 102010045554A DE 102010045554 B4 DE102010045554 B4 DE 102010045554B4
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Germany
Prior art keywords
control
pcba
joint
robot
level
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DE102010045554.7A
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German (de)
English (en)
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DE102010045554A1 (de
Inventor
Donald R. Davis
Nicolaus A. Radford
Frank Noble Permenter
Michael C. Valvo
R. Scott Askew
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Usa As Represented By Administrator Us
GM Global Technology Operations LLC
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GM Global Technology Operations LLC
National Aeronautics and Space Administration NASA
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42093—Position and current, torque control loop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42263—Different sample rates, multiple sample rates for the different loops

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Multiple Motors (AREA)
DE102010045554.7A 2009-09-22 2010-09-16 Integriertes Hochgeschwindigkeitsdrehmomentregelsystem für ein Robotergelenk Active DE102010045554B4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US12/564,076 US8442684B2 (en) 2009-09-22 2009-09-22 Integrated high-speed torque control system for a robotic joint
US12/564,076 2009-09-22

Publications (2)

Publication Number Publication Date
DE102010045554A1 DE102010045554A1 (de) 2011-05-19
DE102010045554B4 true DE102010045554B4 (de) 2015-06-03

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DE102010045554.7A Active DE102010045554B4 (de) 2009-09-22 2010-09-16 Integriertes Hochgeschwindigkeitsdrehmomentregelsystem für ein Robotergelenk

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Country Link
US (1) US8442684B2 (https=)
JP (1) JP2011079123A (https=)
DE (1) DE102010045554B4 (https=)

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JP5895628B2 (ja) * 2012-03-15 2016-03-30 株式会社ジェイテクト ロボットの制御方法及びロボット制御装置、並びにロボット制御システム
US9409298B2 (en) 2012-04-13 2016-08-09 Rethink Robotics, Inc. Flexure elements for series elastic actuators and related methods
CN103085055B (zh) * 2013-01-29 2016-06-22 山东电力集团公司电力科学研究院 带电抢修机器人位置反馈主手系统
CN105666496B (zh) * 2016-04-12 2019-02-15 广东轻工职业技术学院 一种fpga的嵌入式可重构机器人控制系统
US9840886B1 (en) 2016-06-22 2017-12-12 Onesubsea Ip Uk Limited Robotic manipulators for subsea, topside, and onshore operations
CN106227037B (zh) * 2016-07-29 2017-11-07 宁波工程学院 一种基于fpga的类人机器人动作规划参数优化方法
CN108312147A (zh) * 2018-03-19 2018-07-24 北京钢铁侠科技有限公司 驱动器以及带有该驱动器的机器人灵巧手
CN109588020B (zh) * 2018-12-29 2020-07-14 深圳市优必选科技有限公司 一种机器人散热系统及机器人
CN212919403U (zh) * 2020-06-15 2021-04-09 深圳蓝胖子机器人有限公司 一种灵巧手嵌入式系统
CN113814985B (zh) * 2021-10-29 2023-04-14 遨博(北京)智能科技股份有限公司 一种机器人控制方法、控制柜及系统
US12290929B2 (en) * 2023-03-20 2025-05-06 Rockwell Automation Technologies, Inc. Applied force control for robots

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* Cited by examiner, † Cited by third party
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US20020079857A1 (en) * 1999-04-05 2002-06-27 Shinji Ishii Robot, servo circuit, actuator, robot control method, and actuator driving method
JP2001138273A (ja) * 1999-11-08 2001-05-22 Sony Corp 脚式移動ロボット及びその制御方法
US6999851B2 (en) * 2002-08-30 2006-02-14 Sony Corporation Robot apparatus and motion controlling method therefor
US7348746B2 (en) * 2003-02-14 2008-03-25 Honda Giken Kogyo Kabushiki Kaisha Abnormality detection system of mobile robot
US7053579B2 (en) * 2004-08-11 2006-05-30 Sony Corporation Device and method of controlling operation of robot apparatus
US20080309277A1 (en) * 2007-06-18 2008-12-18 Honda Motor Co., Ltd. Driving system for mobile robot

Also Published As

Publication number Publication date
JP2011079123A (ja) 2011-04-21
US20110071680A1 (en) 2011-03-24
US8442684B2 (en) 2013-05-14
DE102010045554A1 (de) 2011-05-19

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Owner name: GM GLOBAL TECHNOLOGY OPERATIONS LLC (N. D. GES, US

Free format text: FORMER OWNERS: GM GLOBAL TECHNOLOGY OPERATIONS LLC (N. D. GESETZEN DES STAATES DELAWARE), DETROIT, MICH., US; THE U.S.A. AS REPRESENTED BY THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION, WASHINGTON, D.C., US

Effective date: 20110321

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