Motor and controller inversion: commanding torque to position-controlled robots

摘要

Systems and methods are presented that cancel the dynamics of a motor and a joint controller in the presence of communication time delays, measurement noise, and controller parameter uncertainties inherent in a robot system. A cancellation system includes feedback of the measured output Ê of a controller block C. A first summing node (Sigma₁) subtracts Ê from the desired voltage E_d to determine a voltage error, which is fed into a G(s) block. A second summing node (Sigma₂) adds the output of the G(s) block to the desired voltage E_d to generate the signal E, which is fed into a non-robust controller inversion block C^-1. The block C^-1 outputs a value mu, which is fed into the block C. The block C outputs the actual voltage E, which is input into a motor block M. Under perfect conditions, the voltage error is zero, in which case the input to block G(s) is zero.