Adaptive modeling and compliance control for RC servo motor

摘要

This paper concerns compliance motion control for joints of a humanoid robot for the external force. Our strategy is to estimate the amount of the external force by measuring the motor drive current of the RC servo motor since auxiliary current sensors can be attached easily. However, we did not consider about the dynamics of RC servo motor. The aim of this paper is to propose the adaptation scheme to identify the dynamics model of RC servo motor. We construct a time-varying adaptive identifier of the parameters with adaptation law based on adaptive control theory and give successful results in our numerical simulation.