Torque estimation for robotic joint with harmonic drive transmission based on system dynamic characteristics

作     者：ZHU Minghong XIAO Shu YU Fei ZHU Minghong;XIAO Shu;YU Fei

作者机构：Faculty of Electrical Engineering and Computer ScienceNingbo UniversityNingbo 315211China College of Intelligent Systems Science and EngineeringHarbin Engineering UniversityHarbin 150001China College of Mathematical SciencesHarbin Engineering UniversityHarbin 150001China 

出 版 物：《Journal of Systems Engineering and Electronics》 (系统工程与电子技术（英文版）)

年 卷 期：2022年第33卷第6期

页      面：1320-1331页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by the National Natural Science Foundation of China(51879055) 

主　　题：harmonic drive torque estimation compliance model unscented Kalman filter(UKF) 

摘      要：In the applications of joint control and robot movement,the joint torque estimation has been treated as an effective technique and widely *** are made to analyze the kinematic and compliance model of the robot joint with harmonic drive to acquire high precision torque *** analyzing the structures of the harmonic drive and experiment apparatus,a scheme of the proposed joint torque estimation method based on both the dynamic characteristics and unscented Kalman filter(UKF)is designed and *** on research and scheme,torque estimation methods in view of only harmonic drive compliance model and compliance model with the Kalman filter are simulated as guidance and reference to promote the research on the torque estimation ***,a promoted torque estimation method depending on both harmonic drive compliance model and UKF is designed,and simulation results compared with the measurements of a commercial torque sensor,have verified the effectiveness of the proposed method.