| Abstract: | This paper presents a study of a complete robot axis including the electrical and the mechanical parts. The motorization of the robot arm presented here has been carried out using a DC motor, a “harmonic-drive” type gear system and three control loops (current, speed and position). Each component is studied and modeled taking into account non-linearities such as current limitation, backlash, low rigidity and non-linear friction. The results obtained through computation of the model are compared with measurements on the real arm (motor current and speed) using speed and position loops. |
