Zijian Zhang, F. Ni, Yi Ren, M. Jin, Yiwei Liu, Hong Liu
{"title":"一种用于类人机械臂的高度集成关节控制器","authors":"Zijian Zhang, F. Ni, Yi Ren, M. Jin, Yiwei Liu, Hong Liu","doi":"10.1109/ROBIO.2013.6739889","DOIUrl":null,"url":null,"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.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"A highly integrated joint controller for a humanoid robot arm\",\"authors\":\"Zijian Zhang, F. Ni, Yi Ren, M. Jin, Yiwei Liu, Hong Liu\",\"doi\":\"10.1109/ROBIO.2013.6739889\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":434960,\"journal\":{\"name\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2013.6739889\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2013.6739889","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A highly integrated joint controller for a humanoid robot arm
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.