The main joint devices of the robot are the servo motor and harmonic reducer,and the torsional vibration of the harmonic reducer will cause the fluctuation of the servo motor rotor speed,resulting in the change of stator current.In this paper,through the correlation analysis between torsional vibration and feedback current fluctuation in servo motor controller,this electromechanical coupling phenomenon is used to explore quality monitoring or control in robot joint manufacturing.
维普
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