Torque and Speed Control of DC-Servomotors for Robots

DC servomotors as applied to robots and machine tools can be applied either as torque control devices or speed control devices. For torque control the current to the motor is the input variable, and for speed control the voltage is the input variable. The selection of the appropriate type of control variable is based upon the operating systems and in each case a different control loop structure is required; The present paper is concerned with the design of the control loops and the selection of controller types. Guidelines are presented for choosing the appropriate type of control loop for robot systems.