A high-stiffness torque control system for geared DC motors is considered. Methods to identify the parameters needed to achieve this control system are described. Furthermore, the enhanced scheme considered here involves a method to select the stiffness of the torque sensing element to achieve the accurate torque control system. The basis idea is to use an acceleration controller, based on disturbance observer, instead of a position controller as proposed in the past. The advantage is that the effects of time delays due to the system dynamics and the effects of Coulomb friction are eliminated by the observer. Experimental results from an implementation of this controller are presented.
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