Fuzzy Impedance Control Based on a Built-in Torque Sensor in Harmonic Drive Gear

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	Fuzzy Impedance Control Based on a Built-in Torque Sensor in Harmonic Drive Gear
	Zhu ZG(朱正国); Liu GW(刘国伟); Song YF(宋屹峰); Jiang Y(姜勇); Tan XW(谈晓伟)
	2017
会议名称	2017 IEEE International Conference on Robotics and Biomimetics
会议日期	December 5-8, 2017
会议地点	Macau, China
关键词	Impedance control Strain electrical measuring Harmonic drive gear Kalman filter
页码	1383-1388
通讯作者	Tan XW(谈晓伟)
中文摘要	To meet the intrinsically safe demands for joint torque measuring and joint compliance in collaborative manipulator (co-manipulator), a torque measuring method by using a built-in torque sensor in harmonic drive gear (HDG) has been improved. Based on that novel torque sensor, fuzzy impedance control strategy is proposed and tested in a physical experiment prototype as well. In this paper, aiming for period-varying ripple interference, which is caused by the intrinsic properties of HDG’s flexspline, a highly real-time and precise online Kalman filter algorithm is designed to mitigate this problem. Besides, an impedance control strategy, whose parameters are modified by fuzzy controller online, is proposed, and the rapidity and stability of the proposed impedance control in the interaction with unstructured environment are improved and proved by observing simulation data. The experiments’ results on physical prototype show the feasibility and effectiveness of the joint torque measuring method in this novel torque sensor and parameter-varying impedance control strategy.
收录类别	EI
产权排序	2
会议录	Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-3741-8
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/21313]
专题	沈阳自动化研究所_空间自动化技术研究室
作者单位	1.College of Information Science and Engineering, Northeastern University, Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
推荐引用方式 GB/T 7714	Zhu ZG,Liu GW,Song YF,et al. Fuzzy Impedance Control Based on a Built-in Torque Sensor in Harmonic Drive Gear[C]. 见:2017 IEEE International Conference on Robotics and Biomimetics. Macau, China. December 5-8, 2017.