Abstract
The ability to command actuator torque is necessary to perform research into robot control. Commercial manipulators using direct-drive actuators offer high performance, but do not allow specification of actuator torque. We experimentally characterize the motors in an Adept-2 manipulator, and develop a linearizing and decoupling controller which allows torque specification. Torque ripple is 13%.
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Starr, G.P., Wilson, C.W. Design of a torque controller for the adept-2 robot. J Intell Robot Syst 6, 183–201 (1992). https://doi.org/10.1007/BF00248015
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DOI: https://doi.org/10.1007/BF00248015