Skip to content
2000
Volume 19, Issue 6
  • ISSN: 1872-2121
  • E-ISSN: 2212-4047

Abstract

Background

Since the first industrial robots were created in the middle of the last century, robotics has shown strong growth prospects. Robotics has developed rapidly over time and is being used in more and more areas. Because of the need to minimize impact forces during robot movement, traditional rigid robots are no longer sufficient, flexible joints are more adaptable to the environment due to their adjustable stiffness and have higher application value in human-computer interaction. Therefore, flexible jointed robots have become one of the research hotspots in recent years.

Objective

Through a detailed analysis of the existing hardware and software control technologies of flexible joint robots, referring to papers and recent patents on flexible jointed robots, we aim to find ways to reduce the impact of flexible joint deformation of flexible joint robots and improve the overall force and position control accuracy of flexible joint robots.

Methods

To categorize the hardware and software technologies of flexible jointed robots, to briefly explain the directions of the technologies categorized and to study them, to summarize the advantages and disadvantages of each type of technology respectively, and to outlook the future development trend.

Results

Through the study and analysis of the various parts of the flexible joint robot, it can be seen that joint flexibility is mainly achieved through the drive motor and flexible components to achieve flexibility and then through the fusion control technology to control the deformation of the joint. Differences in structural materials affect the mechanical properties of robot motion. The detection and feedback accuracy of the sensor also has a significant impact on the control accuracy.

Conclusion

The use of new motor technology, flexible component technology, material technology, and sensor technology, combined with improvements in software fusion control technology can reduce the impact of joint deformation, improve the control accuracy of joint flexibility, and achieve high-precision force-level control capability of flexible joint robots.

Loading

Article metrics loading...

/content/journals/eng/10.2174/0118722121259345230926080152
2023-10-10
2025-07-04
Loading full text...

Full text loading...

References

  1. ZhangD.G. RuiX.T. Modeling and simulation of recursive Lagrangian dynamics of a multi-bar spatially flexible robot.China Academic Conference on Nonlinear Vibration(the Eighth Chinese Conference on Nonlinear Dynamics and Motion Stability)Xi'an, China, 2007, pp. 157-169.
    [Google Scholar]
  2. XuH. "Design of flexible joint robot system", M.S. thesis,Nanjing, ChinaSoutheast University2017
    [Google Scholar]
  3. TaoY. WangT.M. Current status of industrial robot technology and industrialization development strategy in China.Jixie Gongcheng Xuebao2014500911310.3901/JME.2014.09.001
    [Google Scholar]
  4. WangS.G. FuY.L. Strategic thinking on the development of special robots in China.Acta Automatica Sinica2002S17076
    [Google Scholar]
  5. DaiX.Z. The development of non-manufacturing automation and special robots in the 21st century.Acta Automatica Sinica2002S196102
    [Google Scholar]
  6. SunY. Design of direct torque control system based on flexible joints, M.S. thesis,Beijing, ChinaBeijing Institute of Technology2015
    [Google Scholar]
  7. ShenX.D. LiuC.Y. ZhangB.S. Simulation of robot hole-making process dynamics considering joint flexibility.MDM201503196200
    [Google Scholar]
  8. HirzingerG. ButterfebJ. MeM.F. Chatronics approach to the design of light-weight arms and multifingered hands.IEEE International Conference on Robotics & AutomationSan Francisco, USA, 2000, pp. 46-54.
    [Google Scholar]
  9. HirzingerG. Albu-SchaefferA. HaehnleM. SchaeferI. SporerN. One new generation of torque controlled light-weight robots.IEEE International Conference of Robotics and AutomationSeoul, Korea, 2001, pp. 3356-3363
    [Google Scholar]
  10. HirzingerG. SporerN. Albu-SchaefferA. Dlr’s torque-controlled light-weight robots iii-are we reaching the technological limits now.IEEE International Conference on Robotics & AutomationWashington DC, USA,2002, pp. 1710-1716.10.1109/ROBOT.2002.1014788
    [Google Scholar]
  11. GrahamG. SaviS. BenoitM. Canada and the international space station program: Overview and status.International Astronautical Congress of the International Astronautical Federation(IAF)2003 Bremen, Germany
    [Google Scholar]
  12. PattenL. EvansL. OshinowoL. International space station roboties: A comparative study of ERA, JEMRMS and MSS.ESA Workshop on Advanced Space Technologies for Robotics and Automation’ ASTRA 2002'ESTECNoordwijk, The Netherlands, 2002, pp. 1-8.
    [Google Scholar]
  13. GruissenH.J. EllenbroekM. HendersonM. The European robotic arm: A high-performance mechanism finally on its way to Space.Aerospace Mechanism SymposiumNASA, USA, 2004, pp. 319.
    [Google Scholar]
  14. BoumansR. HeemskerkC. The European robotic arm for the international space station.Robot. Auton. Syst.1998231-2172710.1016/S0921‑8890(97)00054‑7
    [Google Scholar]
  15. StieberM.E. TrudelC.P. HunterD.C. Robotic system for the international space station.IEEE International Conference on Robotics and AutomationAlbuquerque, USA, 1997, pp. 3068-3073.10.1109/ROBOT.1997.606754
    [Google Scholar]
  16. ChiH. New arm of the international space station: The European robot arm.Space Exploration2021093035
    [Google Scholar]
  17. ChiH. Operation of the robotic arm system on the international space station.Space Exploration2021094447
    [Google Scholar]
  18. GuoX.Y. LiuC.K. WangX.X. An overview of the canadian mobile service system terrestrial teleoperation model.J. Space Explor.201805017884
    [Google Scholar]
  19. FanC.G. "Research on kinematic calibration shape selection strategy and trajectory tracking control of Tiangong II robotic arm", PhD thesis,Harbin, ChinaHarbin Institute of Technology2020
    [Google Scholar]
  20. WangX. WangW. Progress in the development and construction of China’s Tiangong space station.Chin. Sci. Bull.202267344017402810.1360/TB‑2022‑0499
    [Google Scholar]
  21. LiuD.Y. LiuH. ZhangB.N. Experimental research on space robotics in manned spacecraft piggybacking.Chinese Space Conference2018Beijing, China117125
    [Google Scholar]
  22. LiuH. LiuD.Y. JiangZ.N. Space robotic arm technology review and outlook.Acta Aeronautica ET Astronautica Sinica202142013346
    [Google Scholar]
  23. LiuH. LiZ.Q. LiuY.W. Key technologies and in-orbit tests of the Tiangong II manipulator.Scientia Sinica(Technologica)2018481213131320
    [Google Scholar]
  24. CaiZ.X. Roboticism.BeijingTsinghua University publishing house2000
    [Google Scholar]
  25. WangM.L. ZhangC.W. RaoH.Q. ZhangS.D. Research on the universal architecture of multi-joint robot.Machine Tool & Hydraulics2018026062
    [Google Scholar]
  26. SunX.C. Optimal design of main linkage (arm) parameters for jointed robots.J. Beijing Uni. of Aeronautics & Astronautics19962204125128
    [Google Scholar]
  27. ChengF.Y. LuJ.C. LiJ.J. HeA. LiangJ.W. Analysis of factors influencing robot workspace.Motorcycle Technology2021073437
    [Google Scholar]
  28. ChenF.X. LiC.G. ChuY.D. WangJ. YueY.S. Research on step-by-step parameter identification strategy for flexible joint robot.Machine Building & Automation20214206166169
    [Google Scholar]
  29. HeF.B. "Study on the theory of robot-like muscle elastic drive and its motion softening", M.S. thesis,Dalian, ChinaDalian University of Technology2020
    [Google Scholar]
  30. CuiS.P. SunY.G. LiuY.W. Research on the optimal control method of flexible joint robotic arm.Electric Machines and Control20212505119130
    [Google Scholar]
  31. DongB.L. YangR.W. Design and torque control study of tandem elastic actuator.Machinery Design & Manufacture202237606167171
    [Google Scholar]
  32. JiC. "Research on the design and control method of variable stiffness joint structure", PhD. thesis,Harbin, ChinaHarbin Institute of Technology2019
    [Google Scholar]
  33. XuY.P. "Passive flexible variable stiffness actuator and its characteristics", PhD thesis,Jinan, ChinaShandong University2021
    [Google Scholar]
  34. XuY.T. "Design and analysis of joint motors for quadruped robots", M.S. thesis,Hangzhou, ChinaZhejiang University2020
    [Google Scholar]
  35. PalS.K. Direct drive high energy permanent magnet brush and brushless DC motors for robotic applications.IEE Colloquium on Robot ActuatorsLondon, UK, 1991, pp. 12/1-12/4.
    [Google Scholar]
  36. XiaoY.K. ShangT. ChenT.S. Servo system practical technology.BeijingChemical Industry Press2004
    [Google Scholar]
  37. ShengF. "Research on the control method of quadruped robot servo motor", M.S. thesis,Hangzhou, ChinaZhejiang University2020
    [Google Scholar]
  38. OcakO. ErtugrulB.T. SincarE. Design, analysis and experimental verification of a permanent magnet AC servomotor for mobile robot applications.International Conference on Electrical MachinesMarseille, France, 2012, pp. 196-200.10.1109/ICElMach.2012.6349863
    [Google Scholar]
  39. FarveN.N. "Design of a low-mass high-torque brushless motor for application in quadruped robotics", M.S. thesis,Boston, USAMassachusetts institute of technology2012
    [Google Scholar]
  40. AngleM.G. LangJ.H. KirtleyJ.L. Optimization of surfacemount permanent magnet synchronous machines for low duty-cycle, high-torque applications.IEEE International Electric Machines and Drives Conference (IEMDC)Miami, FL, USA, 2017, pp. 1-6.10.1109/IEMDC.2017.8002291
    [Google Scholar]
  41. YangY. "Research on the design of permanent magnet servo motors for jointed robots", M.S. thesis,Nanjing, ChinaSoutheast University2018
    [Google Scholar]
  42. Albu-SchäfferA. HaddadinS. OttC. StemmerA. WimböckT. HirzingerG. The DLR lightweight robot: Design and control concepts for robots in human environments.Ind. Rob.200734537638510.1108/01439910710774386
    [Google Scholar]
  43. TangJ.Z. ChengL. WangY.F. An integrated joint for cooperative robots.IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO)Beijing, China, 2019, pp. 97-101.
    [Google Scholar]
  44. ZhangH.T. "Research on variable stiffness flexible joints of foot robot", M.S. thesis,Harbin, ChinaHarbin Institute of Technology2013
    [Google Scholar]
  45. LiQ. Green harmonics-Lead robot precision harmonic reducer.Robotics Technology and Application201427032122
    [Google Scholar]
  46. JeonH.S. HoonO.S. A study on stress and vibration analysis of a steel and hybrid flexspline for harmonic drive.Compos. Struct.19974701827833
    [Google Scholar]
  47. ИвaнoвM.H. ShenY.W. LiK.M. Harmonic gear drive.BeijingNational Defense Industry Press1987
    [Google Scholar]
  48. GuJ.F. XvN. BaoL. SanX.M. Robot flexible joints.C.N. Patent 116372976A
    [Google Scholar]
  49. AndersB.M. FlemmingM. Adjustable flexible joint.EP4114234A12023.
    [Google Scholar]
  50. LiB. LiZ.S. HuangH.L. XvW.F. PanD.Y. Active variable rigidity joint comprising differential gear train.CN113442163A2021.
    [Google Scholar]
  51. XuK.Y. YaoH.Q. Construction of a practical communication system for multi-joint robots.Machine Tool & Hydraulics2004042831
    [Google Scholar]
  52. TomeiP. A simple PD controller for robots with elastic joints.IEEE Trans. Automat. Contr.199136101208121310.1109/9.90238
    [Google Scholar]
  53. SpongM. KhorasaniK. KokotovicP. An integral manifold approach to the feedback control of flexible joint robots.IEEE J. Robot. Autom.19873429130010.1109/JRA.1987.1087102
    [Google Scholar]
  54. GeS.S. Adaptive controller design for flexible joint manipulators.Automatica199632227327810.1016/0005‑1098(96)85559‑2
    [Google Scholar]
  55. GrimmW.M. Robustness analysis of nonlinear decoupling for elastic-joint robots.IEEE Trans. Robot. Autom.19906337337710.1109/70.56656
    [Google Scholar]
  56. TomeiP. An observer for flexible joint robots.IEEE Trans. Automat. Contr.199035673974310.1109/9.53558
    [Google Scholar]
  57. AshbyW.R. Design for a brain: The origin of adaptive behaviorChapman and HallNew York1960
    [Google Scholar]
  58. CraigJ.J. PingH. SastryS.S. Adaptive control of mechanical manipulators.IEEE The International Journal of Robotics Research19860602190195
    [Google Scholar]
  59. GhorbelF. HungJ.Y. SpongM.W. Adaptive control of flexible-joint manipulators.IEEE Contr. Syst. Mag.19899791310.1109/37.41450
    [Google Scholar]
  60. LingS. WangH.Q. LiuP.X. Adaptive fuzzy tracking control of flexible-joint robots based on command filtering.IEEE Trans. Ind. Electron.2019072267522683
    [Google Scholar]
  61. DoratoP. Short-time stability in linear time-varying systems.Proceedings of IRE International Convention Recordvol 0483871961
    [Google Scholar]
  62. JinQ.B. HaoF. WangQ. A multivariable IMC-PID method for non-square large time delay systems using NPSO algorithm.J. Process Contr.201323564966310.1016/j.jprocont.2013.02.007
    [Google Scholar]
  63. ZhangH. ZhaoJ. LiC.L. LiuG.F. A method for controlling the output torque of a flexible jointed robot.CN113977571A2022.
    [Google Scholar]
  64. JiangZ.H. LiH. TanJ.W. FengS.Y. A high-frequency resonance suppression method for flexible robot joint harmonic dampers.C.N. Patent 115629533A2023
    [Google Scholar]
  65. LiangL. ZouF.S. LiuS.C. ZhaoB. SongJ.L. SunR.H. A redundant multi-joint robot flexible impedance control method.C.N. Patent 114619437A2022.
    [Google Scholar]
  66. MaQ. XieY.K. XuS.Y. Event-triggered control method for flexible jointed robot system based on fuzzy observer.C.N. Patent 114280924A2022.
    [Google Scholar]
  67. GuoT.Y. AnD. Fundamentals and applications of robotics.BeijingTsinghua University publishing house2017
    [Google Scholar]
  68. XuH. "Research on multi-sensor information fusion navigation strategy in complex scenes", M.S. thesis,Harbin, ChinaHarbin Institute of Technology2021
    [Google Scholar]
  69. WangW.Q. ZhangT. GongN. Multi-sensor fusion-based ranging system for autonomous mobile robots.Jisuanji Celiang Yu Kongzhi20132102343345
    [Google Scholar]
  70. ZHAO Shi-yuan CUI Ji-wen CHEN Meng-meng Review on optical fiber shape sensing technology.Optics and Precision Engineering2020281102910.3788/OPE.20202801.0010
    [Google Scholar]
  71. QiuZ.C. A review of research progress on vibration measurement and control of flexible robotic arms.Inf. Control20215002141161
    [Google Scholar]
  72. YuZ.H. ZhangQ. Application of fiber optic grating sensor in the position detection of flexible robotic arm.Combined Machine Tool and Automatic Machining Technology202258107106109
    [Google Scholar]
  73. JiaY.D. Machine Vision.BeijingScience Press2004
    [Google Scholar]
  74. DuanF. WangY.N. LeiX.F. A review of machine vision technology and its applications.Automation Panorama2002036264
    [Google Scholar]
  75. WenE.W. HeY.W. Application scheme of robot unordered grasping based on 3D vision sensor.Development & Innovation of Machinery & Electrical202235063639
    [Google Scholar]
  76. ShaoD.G. YangZ.Z. Research on the control method of permanent magnet synchronous motor based on HallFOC.Small and Special Electrical Machines201846092832
    [Google Scholar]
  77. ZhaoY.Y. HanB.C. ChenB.D. A method for rotor position and speed estimation of permanent magnet synchronous motor based on Hall vector phase tracking.Transactions of China Electrotechnical Society2019341531473157
    [Google Scholar]
  78. BanX.J. ZhangW.Q. ShiH.S. Research on the confirmation method of brushless motor Hall sensor position and motor rotation direction.Mechanical & Electrical Information2022681098488
    [Google Scholar]
  79. ShenS.Y. LiuK. WangY. Design and implementation of automobile assisted driving information detection system.Computer Programming Skills & Maintenance20224410379
    [Google Scholar]
  80. ZhangW.M. YangD. Design and performance analysis of robot joint torque sensor.Instrument Technique and Sensor202247407710
    [Google Scholar]
  81. JinL. WangC.J. XiaK.R. Compact robot gate design with embedded torque sensor.Kexue Jishu Yu Gongcheng202121241035610361
    [Google Scholar]
  82. WangS. WuZ. PengD. ChenS. ZhangZ. LiuS. Sensing mechanism of a rotary magnetic encoder based on time grating.IEEE Sens. J.20181893677368310.1109/JSEN.2018.2810874
    [Google Scholar]
  83. GuoY.Q. LiS. DuanZ.Q. A study on a Hall effect-based torque sensor.MDME201948045659
    [Google Scholar]
/content/journals/eng/10.2174/0118722121259345230926080152
Loading
/content/journals/eng/10.2174/0118722121259345230926080152
Loading

Data & Media loading...


  • Article Type:
    Review Article
Keyword(s): drive motors; flexible components; fusion control; Joint flexibility; robotics; sensors
This is a required field
Please enter a valid email address
Approval was a Success
Invalid data
An Error Occurred
Approval was partially successful, following selected items could not be processed due to error
Please enter a valid_number test