关键词: 小型化机器人, 伺服电机, 减速系统, 协同控制

Abstract: The control error problem caused by the coupling of the servo motor and the reduction system in the joint of the miniaturized robot was proposed. A cooperative control method was adopted to improve the stability performance of the system. By constructing the joint dynamic model of the motor and the reducer,its dynamic characteristics were analyzed,and a cooperative method integrating feedforward compensation, torque observation and adaptive control was designed. The experimental results show, the method has a good effect in enhancing the consistency of torque output and resisting nonlinear interference. The servo motor cooperative control improves the control accuracy and stabillty of servo drive system in miniaturized robot joints.

Key words: miniaturized robots,servo motor,deceleration system,cooperative control