公开(公告)号：US12214498B2

公开(公告)日：2025-02-04

申请号：US17908238

申请日：2020-05-09

Applicant: Beijing Institute of Technology

Inventor： Zhangguo Yu ,  Qiang Huang ,  Yaliang Liu ,  Yuyu Zuo ,  Xuechao Chen ,  Gao Huang ,  Han Yu

IPC: B25J9/00 ,  B25J9/16 ,  B25J13/08 ,  G05B19/4155

Abstract: A robot joint torque control system and a load compensation method therefor are provided, which relate to the technical field of robot joint motion control. A mathematical model of the robot joint torque control system is established first. Equivalent transformation is performed on a system functional block diagram thereof, and then it can be seen that load parameters have a great influence on joint torque output. A load compensation controller is designed to effectively eliminate the influence of the load parameters on an output torque of the joint. The system is equivalent to an inertial element on the basis of the compensation, and then a PD controller parameter is adjusted to increase an open-loop gain of the system, so as to increase a system bandwidth and increase a response speed of the joint torque control system, thereby improving performance of the joint torque control system.