A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brnshless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.
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