Has anyone known papers on torque estimation control using motors without torque sensors, or related to robot applications? thank you!
Currently, I am using the motor without torque sensors to control the torque output at the joint of the robot, and I have achieved good results. However, I am distressed that there is no theory to support further and improve my idea. I was frustrated in searching for papers. I would like to ask, does anyone know of a similar article using motors without torque sensors for torque control?
Maybe the question here is: How are you doing the control of the Robot?
There are a lot of techniques to control robots, including sensorless methods using observers.
Regards
Jesus
If You want to control only the torque by: a) changing the power without changing the speed or b) by changing the rotation frequency without changing the power, then You can use the ratio below.|
You can change the power consumed by the engine by changing the voltage or current to rotate the engine.
How to calculate torque, knowing the speed and power of the engine?
Torque is directly related to the power.
There is a generally accepted formula for calculating the torque expressed in N*m:
M = P * 9550 / N,
where P is the engine power in kilowatts (kW)
N is rotation frequency per minute (revolutions per minute).
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