A high-integrated and high-precision robot manipulator joint servo system

Abstract

Targeting at the special needs of multi-DOF manipulator in some complex tasks, and the joint plays a very important role in the safe and steady operation of manipulators as one of critical components, a high-precision servo system integrated joint design is presented based on DSP. The system with all the functions of agencies, data sampling, data processing, sensing, control and communication could possess the ability to achieve the high accuracy sensor information which is processed and loop control which is carried out based on torque feedback. To improve system reliability, joint servo control system using the redundant CAN bus communications with the host. Experimental results show that the robot manipulator joint servo system has a high degree of high accuracy, high integration and high real-time advantages.