Paper Info
Title
A highly integrated joint controller for a humanoid robot arm
Abstract
A highly integrated joint controller using in a humanoid robot arm has been developed in the paper. The joint controller is highly integrated with position sensors - the hall sensors, the magnetic sensor and the photoelectrical sensor, the torque sensors, the temperature sensor and so on. Besides, it can control and drive the motor in PWM and SVPWM modes. What is more, the joint controller has been integrated with five level emergent condition response strategies to ensure safety of the robot arm. To test performance of the joint controller, a testing platform has been established. Though a serious of experiments, the performance of the joint controller including the motor drive function, the sensor information acquisition and the joint track and velocity control can be validated.
Year
DOI
Venue
2013
10.1109/ROBIO.2013.6739889
ROBIO
Keywords
Field
DocType
machine control,motor control,position sensors,photoelectrical sensor,svpwm mode,velocity control,humanoid robots,humanoid robot arm,hall sensors,pulse width modulation,position control,integrated joint controller,magnetic sensors,magnetic sensor
Robot control,Control theory,Robotic arm,Torque,Control theory,Hall effect sensor,Control engineering,Engineering,Motor drive,Position sensor,Humanoid robot
Conference
Citations 
PageRank 
References 
1
0.36
5
Authors
6
Name
Order
Citations
PageRank
Zijian Zhang1279.14
Fenglei Ni2268.22
Yi Ren3142.42
Minghe Jin411319.16
Yiwei Liu5349.53
Hong Liu621348.37