Torque and Speed Control of DC-Servomotors for Robots

OC servomotors as appl ied t o robots and machine too l s can be app l ied e i t h e r as torque con t ro l devices o r speed cont ro l devices. For torque con t ro l the cur ren t t o the motor i s the i npu t var iab le , and f o r speed con t ro l the vol tage i s the i npu t var iab le . The se lec t i on o f the appropr iate type o f con t ro l va r iab le i s based upon the opera t ing systems and i n each case a d i f f e r e n t con t ro l loop s t ruc tu re i s required'. The present paper i s concerned w i t h the design o f the cont ro l loops and the se lec t i on o f c o n t r o l l e r types. Guidelines are presented f o r choosing the appropr iate type o f con t ro l loop f o r robot systems.