Computed Current Control of Robots

Abstract This paper presents a direct calculation of the motor current references as function of a desired trajectory specified by the joint positions, velocities and accelerations. Classically this operation is done by calculating at first the joint torques or forces, then using the joint drive gain, the current reference of motor is obtained. The proposed method defines a new set of dynamic model parameters which can be identified using the current of the motors and the joint positions and velocities, the calculation of the gear ratio, amplifier gains and motor torque constants which define the drive gain are not needed.

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