Decentralized Robust Control of Robotic Manipulator in Joint Space Based on Torque Feedback

View Video Presentation: https://doi.org/10.2514/6.2021-4125.vid A decentralized robust control algorithm for robot joint space based on torque feedback is studied. The basic idea of the algorithm is to treat the robot linkage and joint driver as a module, a torque sensor is installed on the transmission shaft of the connecting module, and the coupling between the two dynamic chains bounded by the torque sensor is measured by the sensor In this way, the nonlinear coupling effect of the links from the joint to the end of the robot will no longer be seen in any joint dynamic equation of the robot, so that the design of the robot joint controller can be carried out relatively independently and decentrally. Using a torque sensor, the influence of external interference and gravity load can be integrated into the control loop in time, so the control system has a strong anti-interference ability. Theoretical analysis and simulation research show that the researched robot joint space distributed control system based on torque feedback has high robustness.