首页|Research Results from Shenyang Ligong University Update Understanding of Robotic s (Backlash Elimination Control for Robotic Joints with Dual-Motor Drive)
Research Results from Shenyang Ligong University Update Understanding of Robotic s (Backlash Elimination Control for Robotic Joints with Dual-Motor Drive)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Research findings on robotics are disc ussed in a new report. According to news reporting originating from Shenyang, Pe ople’s Republic of China, by NewsRx correspondents, research stated, “Dual-motor drive is commonly used in heavy-duty robotic joint servo systems.” Financial supporters for this research include Liaoning Education Department Gen eral Project. The news editors obtained a quote from the research from Shenyang Ligong Univers ity: “However, the backlash inevitably affects joint accuracy. In this article, a variable bias torque control method is proposed for a dual-motor-driven roboti c joint. The variable bias torque varies directly according to the motor current , and the conversion method of the bias compensation torque is presented. A simu lation model of the dual-motor drive system in MATLAB/Simulink is established ba sed on the dynamic modeling of a dual-motor drive system, and a robotic joint pr ototype is also established. The variable bias torque control can achieve a reas onable distribution of the output torque for the whole servo cycle and can effec tively reduce the energy consumption of the system to maintain static backlash e limination; the dynamic loading of the bias voltage can be achieved through the setting of the conversion function to complete the smooth transition between the two states of backlash elimination control and common drive control; the dynami c loading of the bias torque improves the torque output capability of the dual-m otor system. In the experiment, the steady-state error of the servo system is le ss than 0.05°, and the error is much smaller than the internal backlash angle (a bout 2°) of the system, which indicates that the internal backlash of the robot joint has been eliminated.”
Shenyang Ligong UniversityShenyangPe ople’s Republic of ChinaAsiaEmerging TechnologiesMachine LearningRobotic sRobots
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