Torque estimation for robotic joint with harmonic drive transmission based on system dynamic characteristics

doi:10.23919/JSEE.2022.000151

Journal of Systems Engineering and Electronics ›› 2022, Vol. 33 ›› Issue (6): 1320-1331.doi: 10.23919/JSEE.2022.000151

• CONTROL THEORY AND APPLICATION • Previous Articles

Torque estimation for robotic joint with harmonic drive transmission based on system dynamic characteristics

Minghong ZHU¹^,*(), Shu XIAO², Fei YU³

¹ Faculty of Electrical Engineering and Computer Science, Ningbo University, Ningbo 315211, China
² College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China
³ College of Mathematical Sciences, Harbin Engineering University, Harbin 150001, China

Received:2021-04-12 Online:2022-12-18 Published:2022-12-24
Contact: Minghong ZHU E-mail:zhumh0109@163.com
About author:
ZHU Minghong was born in 1989. She received her B.E. and Ph.D. degrees from Harbin Engineering University, Harbin, China, in 2013 and 2020, respectively. She is currently a lecturer of Faculty of Electrical Engineering and Computer Science, Ningbo University, Ningbo, China. Her research interests focus on robot joint control and multi-sensor integrated navigation technology. E-mail: zhumh0109@163.com

XIAO Shu was born in 1990. He received his B.E. degree from Harbin Engineering University, Harbin, China, in 2013. Now he is a Ph.D. candidate at Harbin Engineering University. His research interests include robot joint modeling and linear and nonlinear filtering. E-mail: xiaoshu@hrbeu.edu.cn

YU Fei was born in 1974. He received his B.S. degree from Dalian University of Technology, Dalian, China, in 1997, and M.E. and Ph.D. degrees from Harbin Engineering University, Harbin, China, in 2003 and 2005, respectively. He is currently a professor of the College of Mathematical Sciences, Harbin Engineering University, Harbin, China. His research interests focus on ship strapdown inertial navigation technology and integrated navigation technology, including inertial measurement technology, integrated navigation technology of carrier, optimization techniques, high-frequency techniques and other communication skills for ship navigation. E-mail: yufei414@126.com
Supported by:
This work was supported by the National Natural Science Foundation of China (51879055).

Abstract

Abstract:

In the applications of joint control and robot movement, the joint torque estimation has been treated as an effective technique and widely used. Researches are made to analyze the kinematic and compliance model of the robot joint with harmonic drive to acquire high precision torque output. Through analyzing the structures of the harmonic drive and experiment apparatus, a scheme of the proposed joint torque estimation method based on both the dynamic characteristics and unscented Kalman filter (UKF) is designed and built. Based on research and scheme, torque estimation methods in view of only harmonic drive compliance model and compliance model with the Kalman filter are simulated as guidance and reference to promote the research on the torque estimation technique. Finally, a promoted torque estimation method depending on both harmonic drive compliance model and UKF is designed, and simulation results compared with the measurements of a commercial torque sensor, have verified the effectiveness of the proposed method.

Key words: harmonic drive, torque estimation, compliance model, unscented Kalman filter (UKF)

Minghong ZHU, Shu XIAO, Fei YU. Torque estimation for robotic joint with harmonic drive transmission based on system dynamic characteristics[J]. Journal of Systems Engineering and Electronics, 2022, 33(6): 1320-1331.

Figures/Tables 20

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References 28

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Model	Maximum torque difference/(N·m)	RMS of the torque difference/(N·m)	Maximum position difference/(°)
CM	1.754	0.6022	0.1028
CM-KF	2.132	0.1949	0.02957
CM-UKF	0.5793	0.0626	0.004222

Model	Maximum torque difference/(N·m)	RMS of the torque difference/(N·m)	Maximum position difference/(°)
CM	2.430	1.1723	0.2188
CM-KF	5.232	2.9487	0.06391
CM-UKF	1.034	0.0482	0.0002604

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Torque estimation for robotic joint with harmonic drive transmission based on system dynamic characteristics

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