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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Joint Torque Sensor Embedded in Harmonic Drive Using Order Tracking Method for Robotic Application
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Joint Torque Sensor Embedded in Harmonic Drive Using Order Tracking Method for Robotic Application

机译：订单跟踪法在谐波驱动中嵌入关节转矩传感器在机器人中的应用

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摘要

The main contribution of this work is the low-cost joint torque measurement method using harmonic drive characteristics. To measure the external torque, we use the strain measurement of the flexspline of the harmonic drive. The flexspline of the harmonic drive is deformed by the external torque, as well as by the velocity reducing operation, which creates torque ripple on the strain signal from the flexspline. As the frequency characteristics of such torque ripple are strongly related to the joint speed, an order tracking technique is used to compensate the torque ripple. The resampling-based order tracking data acquisition is used to rearrange the torque ripple signal into the order signal, which has independent frequency characteristic to the joint speed. Then, a simple notch filter easily cancels the torque ripple from the rearranged signal. Our algorithm switches the signal source between the order tracking and the conventional time sampling to overcome the zero velocity condition. To overcome the lack of order information at low velocity, we propose a back propagation method using trained order sampling data. The developed joint torque sensing method is applied to the harmonic drive reducer of a robot manipulator's joint and is experimentally evaluated for the torque measurement during the motion of 5th order polynomial trajectory following.
机译：这项工作的主要贡献是利用谐波驱动特性的低成本联合扭矩测量方法。为了测量外部扭矩，我们使用谐波驱动器的柔性花键的应变测量。谐波传动的柔性花键会由于外部扭矩以及减速操作而变形，这会在来自柔性花键的应变信号上产生扭矩波动。由于这种转矩脉动的频率特性与关节速度密切相关，因此使用阶次跟踪技术来补偿转矩脉动。基于重采样的顺序跟踪数据采集用于将转矩脉动信号重新排列为顺序信号，该顺序信号具有与关节速度无关的频率特性。然后，一个简单的陷波滤波器可以轻松地从重新排列的信号中消除转矩波动。我们的算法在顺序跟踪和常规时间采样之间切换信号源，以克服零速度条件。为了克服低速缺少订单信息的问题，我们提出了一种使用经过训练的订单采样数据的反向传播方法。所开发的关节转矩传感方法被应用于机器人操纵器关节的谐波减速器，并通过实验评估了跟随五阶多项式轨迹运动期间的转矩测量。

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