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토크 제어 로봇을 위한 복합 테스트플랫폼의 설계 및 성능 검증
고종성(Jongseong Ko),심재훈(Jaehoon Sim),정재석(Jaesug Jung),황순욱(Soonwook Hwang),박재흥(Jaeheung Park) 제어로봇시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.12
In this paper, we propose a test platform that can have various configurations according to the research needs and can be easily modified by additional installation of specific functional modules. Various experiments can be conducted by changing the dynamic characteristics of actuators, the rigidity of the joint through additional SEA module, and the robot assembly configuration from horizontal to vertical articulated type. In addition, controllers and encoders were selected to perform torque control experiments well. It is also designed to facilitate further modifications. Therefore, using the proposed test platform in this paper, we expect to be able to measure more reliable, stable and consistent data in an environment where we can freely create new combinations while sharing major modules. It is also expected to contribute significantly to the reduction of research period and cost.