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This paper investigates the dynamic error control strategy of the drive joints with a conventional serial control structure. Firstly, a dynamic error model of the drive joint electromechanical system is established, and the influence law of key parameters on the dynamic error is analysed. Based on Lyapunov stability theory, a semi-closed-loop control strategy is proposed that utilises encoder position feedback, and three fully closed-loop control strategies are proposed that utilise grating sensor position feedback. The research finds that the proposed fully closed-loop control strategies effectively suppress dynamic errors caused by joint elasticity and theoretically eliminate dynamic errors caused by multiple factors, providing a theoretical foundation for dynamic error control in joint drives.

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Comparison of Dynamic Error of Servo Driven Joint with Full-Closed Loop Control Strategy

  • 会议论文

  • 发表日期：

    2025年

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  • Kai Guo,
  • Tong Tong,
  • Shan Xianlei,
  • Junyi Shi,
  • Haitao Liu

摘要

This paper investigates the dynamic error control strategy of the drive joints with a conventional serial control structure. Firstly, a dynamic error model of the drive joint electromechanical system is established, and the influence law of key parameters on the dynamic error is analysed. Based on Lyapunov stability theory, a semi-closed-loop control strategy is proposed that utilises encoder position feedback, and three fully closed-loop control strategies are proposed that utilise grating sensor position feedback. The research finds that the proposed fully closed-loop control strategies effectively suppress dynamic errors caused by joint elasticity and theoretically eliminate dynamic errors caused by multiple factors, providing a theoretical foundation for dynamic error control in joint drives.