The Design Of A Torque Feedback Controller For An Upper Limb Robotic Arm

Vivek, Regeev (2013) The Design Of A Torque Feedback Controller For An Upper Limb Robotic Arm. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

The main idea of this project is to design a force/torque controller that is able to control the output torque of an upper limb robotic arm. This report presents an idea of integrating fuzzy logic torque control into the control of an upper limb robotic arm. The importance of precise torque control so that a robotic arm which is doesn’t have tactile sensory is able to sense when it is handled. These sensors detect collisions by detecting unexpected torque spikes, which would mean a collision, just occurred. The robotic arm is a dc motor driven interface with 1 degree of freedom (DOF). The robotic arm is a scaled down model of an arm, referenced from the dimensions of an upper limb human arm. System identification is used to obtain the transfer function of the plant. The proposed control scheme (fuzzy logic) is chosen due to its ability to control the torque about the motor shaft. The controller works by comparing the error calculated with the specified rule base in the fuzzy controller. This determines the movement of the robotic arm either forward or backward so that the error is reduced or ideally eliminated. From open loop experimentation it can be seen that the torque system displays a very large steady state error. The fuzzy logic torque feedback controller was able to reduce this steady state error from 0.9 Nm to 0.6 Nm.

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