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Modeling of Torque Ripple for Integrated Robotic Joint

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11740))

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Abstract

The torque ripple that leads to vibration greatly affects the performance of robotic joint like motion accuracy. However, the torque ripple models currently used in feedforward control are incomprehensive because only motor or harmonic drive torque ripple of the joint is considered. In this paper, a new torque ripple model based on experimental data and the spectrum of the whole transmission chain are proposed and analyzed. In the model, the torque ripple includes the fluctuation caused by transmission error of the harmonic drive and cogging torque of the motor. The transmission error is modeled with the comparison of position signals of two encoders which are installed at motor and load sides respectively. In order to study the torque ripple produced by the motor and the load variation in transmission chain, experimental tests with different motor velocity and varying load inertia are conducted. The robotic joint torque ripple is accurately modeled through analyzing dynamic characteristic of position difference between the motor side and load side.

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Acknowledgement

This paper is supported by the National Key R & D Program of China (Grant No. 2017YFB1300400); NSFC-Fund (Grant No. 51805523); NSFC-Shenzhen Robotic Fundamental Research Center Project (Grant No. U1813223); Equipment Advanced Research Fund of China (Grant No. 6140923010102); The Innovation Team of Key Components and Technology for the New Generation Robot under Grant No. 2016B10016.

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Authors and Affiliations

  1. Ningbo Institute of Materials Technology and Engineering, CAS, Ningbo, 315201, Zhejiang, China

    Yusheng Liao, Chi Zhang, Chongchong Wang, Chin-Yin Chen, Qiang Xin & Si-Lu Chen

  2. University of Chinese Academy of Sciences, Beijing, 100049, China

    Yusheng Liao, Chi Zhang, Chongchong Wang & Qiang Xin

  3. Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo, 315201, Zhejiang, China

    Yusheng Liao, Chi Zhang, Chongchong Wang, Chin-Yin Chen, Qiang Xin & Si-Lu Chen

Authors
  1. Yusheng Liao
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  2. Chi Zhang
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  3. Chongchong Wang
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  4. Chin-Yin Chen
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  5. Qiang Xin
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  6. Si-Lu Chen
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Corresponding author

Correspondence to Chi Zhang .

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Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Liao, Y., Zhang, C., Wang, C., Chen, CY., Xin, Q., Chen, SL. (2019). Modeling of Torque Ripple for Integrated Robotic Joint. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11740. Springer, Cham. https://doi.org/10.1007/978-3-030-27526-6_65

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  • DOI: https://doi.org/10.1007/978-3-030-27526-6_65

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27525-9

  • Online ISBN: 978-3-030-27526-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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