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In situ measurement of motor electrical constants

Published online by Cambridge University Press:  09 March 2009

Peter I. Corke
Peter I. Corke
Affiliation:
Senior Research Scientist, CSIRO Division of Manufacturing Technology, P.O. Box 883, Kenmore, Australia. 4069
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Summary

Motor torque constant is an important parameter in modeling and controlling a robot axis. In practice this parameter can vary considerably from the manufacturer's specification, if available, and this makes it desirable to characterise individual motors. Traditional techniques require that the motor can be removed from the robot for testing, or that an elaborate technique involving weights and pulleys be employed. This paper describes a novel method for measuring the torque constant of robot servo motors in situ and is based on the equivalence of motor torque and back EMF constants. It requires a very simple experimental procedure, utilizes existing axis position sensors, and eliminates effects due to static friction and joint cross coupling. A straightforward extension to this approach can provide a measurement of motor armature impedance. Experimental results obtained for a Puma 560 are discussed and compared with other published results.

Keywords

Robot motorElectrical constantsIn situ measurementSensorsPuma 560.
Type
Article
Information
Robotica , Volume 14 , Issue 4 , July 1996 , pp. 433 - 436
Copyright
Copyright © Cambridge University Press 1996

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