Design And Implementation Of A Robot Joint Torque Servo Motor Four-quadrant Drive

With robot technology in the world widely used in all walks of life, robot control technology at the core of robot application technology, has made great progress, because it’s directly relation to the holistic movement of a robot such as flexible, stable performance, so a reasonable design of control system is an important and necessary part of the robots. And robot joint torque control in robot control system is the lowest design. It provides the basis of the stability, rapid response ability and anti-jamming capability of the robot operation.In this paper, the main content is the design of robot joint torque control with a four quadrant drive system based on dc servo motor.First of all, based on the content of the subject requirements, we chose the faulhaber micro-motor110mNm (a dc servo motor) as the power equipment for the system and TMS320F28335(DSP) as the control chip of the system. Then by comparing some plans the linear power amplifier circuit is adopted as the main control circuit of the system operation, through the programming on DSP we realized a dc servo motor drive system for the robot joint torque four quadrant operation. Using MATLAB/SIMULINK, the result of experiment is simulated well, at last in the real environment experiment, through to the current loop PID adjustment, we can achieve motor driven in four quadrants by the current loop PID adjustment.