An over-rated control strategy for quick motion or tough supporting in robots

摘要

An over-rated control strategy especially for quick motion and/or tough supporting of heavy loads onrobots is proposed. Robots in factories usually deal with stationary operations in their ratedcapabilities. However, in the case of electric actuators, for example DC servo-motors very frequentlyused for robot control, the performance on the output power, power rate or power rate per its weightis not good and far inferior to that of a human. Robots are to handle variable loads of a wide range, butit is disadvantageous for robots to equip actuators of big capacity to respond the maximum load. Theauthors have tried an over-rated driving robot system named 'Rigel- 1'. The current limiting controlhas shown the effectiveness for over-rated driving.