Initial position detection for Selective Compliance Assembly Robot Arm manipulator joint based on an improved high-frequency injection method

Wenqi Lu, Di Wu, Jian Li, Kaiyuan Lu, Dong Wang, Maoshen Ye

Research output: Contribution to journalJournal articleResearchpeer-review

Abstract

Starting oscillation or slow response will occur if the initial position of the motor used in the Selective Compliance Assembly Robot Arm manipulator is not known. To obtain the initial position of the motor, an improved high-frequency injection method is proposed. First, a high-frequency rotating voltage signal is injected into the stationary coordinate system, and the initial position information is extracted by the heterodyne method. Second, an improved position tracking observer is proposed to estimate the rotor position. Taking the joint of a four-axis Selective Compliance Assembly Robot Arm as an object, a special position servo drive system is designed. The design principle, simulation analysis and experimental verification of the proposed method are presented, respectively. The results show that the initial position of the motor can be estimated by the proposed method, enabling high torque and fast start of the Selective Compliance Assembly Robot Arm manipulator.
Original languageEnglish
JournalProceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
Volume234
Issue number8
Pages (from-to)912-921
Number of pages10
ISSN0959-6518
DOIs
Publication statusPublished - 2020

Keywords

  • Selective Compliance Assembly Robot Arm manipulator
  • high-frequency injection
  • initial position
  • position tracking observer

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