Case study on non-ideal current tracking in amplifiers for voltage-driven manipulators
2014 (English)In: The 14th Mechatronics Forum International Conference Karlstad, Sweden. June 16-18, 2014, 2014Conference paper (Refereed)
We consider here a practical issue of using power amplifiers in torque-control mode for robotics applications. Specifically, we bring up the problem that may be caused by internal high-gain current control loops combined with limitations due to impossibility to provide an infinite voltage supply. The issue can be observed on a simple example of a tracking failure on a single link manipulator with a major gravity disturbance. The armature current does not track a reference within an admissible working region due to a voltage saturation in an amplifier: Such a behavior can be reproduced and predicted by our model, which can be used for a more intelligent motion planning and more precise motion control.
Place, publisher, year, edition, pages
IdentifiersURN: urn:nbn:se:umu:diva-113697OAI: oai:DiVA.org:umu-113697DiVA: diva2:889201