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Control of Direct Drive Robots

Direct drive motors simplify greatly the mechanical complexity of actuated joints by eliminating the transmission systems required with traditional electric actuators. In addition, they permit accurate torque control at each joint, through eliminating backlash, compliance, and much of the friction incurred with gear transmissions. Based on experiments with the McGill/MIT Direct Drive Motor, this project develops new optimal commutation laws for torque control of synchronous motors, and improves the control of Direct-Drive Robots with positive joint torque feedback.

F. Aghili, M. Buehler, J. M. Hollerbach (U. Utah)

Annual Report

Mon Jun 26 21:22:20 GMT 2000