Compliance Control of a Robot Manipulator Based on Joint Torque Servo

Chi Haur wu*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

29 Scopus citations


The application of a robot manipulator to the task of assem bling manufacturing products requires compliance control, which means the control and monitoring of both forces and positions of the robot. To increase the operation speed of compliance control, a fast, reliable force servo system based on a proper sensing technique is imperatively needed. In this paper, current existing force-sensing techniques are analyzed, and the results suggest that a joint torque-sensing technique will give the best performance in a force servo system. A prototype joint torque sensor system is designed for our ex periment. As a result, a new, simple, high-gain, wide-band width torque servo system based on a joint torque sensor system is developed and the systems's performance is verified by a single joint manipulator. To provide compliance, a method of selecting the force servo joints for a robot is also provided.

Original languageEnglish (US)
Pages (from-to)55-71
Number of pages17
JournalThe International Journal of Robotics Research
Issue number3
StatePublished - Sep 1985

ASJC Scopus subject areas

  • Software
  • Modeling and Simulation
  • Mechanical Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Applied Mathematics


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