Adaptive Modeling and Compliance Control for RC Servo Motor

被引：0

作者：

Hayashi, Mikiya ^{[1
]}

Koide, Yusuke ^{[1
]}

Matsuhara, Kouhei ^{[1
]}

Ushida, Shun ^{[1
]}

Oku, Hiroshi ^{[1
]}

Kongprawechnon, Waree ^{[2
]}

机构：

[1] Osaka Inst Technol, Osaka, Japan

[2] Sirindhorn Int Inst Technol, Pathum Thani, Thailand

来源：

2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) | 2017年

关键词：

Compliance Control; Adaptive Control; Adaptive Identifier;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper concerns compliance motion control for joints of a humanoid robot for the external force. Our strategy is to estimate the amount of the external force by measuring the motor drive current of the RC servo motor since auxiliary current sensors can be attached easily. However, we did not consider about the dynamics of RC servo motor. The aim of this paper is to propose the adaptation scheme to identify the dynamics model of RC servo motor. We construct a time-varying adaptive identifier of the parameters with adaptation law based on adaptive control theory and give successful results in our numerical simulation.

引用

页码：664 / 667

页数：4

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