Abstract
Abstract To remedy the limitations of the high-gain position servos used for con-troll ing robots, a “load-equalizer” scheme (patented for gun fire systems) was investigated. Since that technique implies positive current feedback, it was decided to study the properties of PCF for DC-servomotor drives. Considered as a load-equalizer, PCF cannot completely nullified the effect of varying moment of inertias on robot control because the gain which is required makes the system unstable. However, it is shown in this study and it is confirmed experimentally that PCF with limited gain greatly improves the dynamic response and the stiffness of position servos without requiring tachometer feedback. Control systems incorporating PCF are therefore seen as highly suited for servoing robots and, specially, direct-drive arms.
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