Modeling of a position servo used in robotics applications

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Position servos are extensively used as actuators for robots. In particular, Dynamixel servos from Robotis are employed as the actuator in each of the 20 joints of a humanoid research robot known as Darwin OP2. The lack of adequate dynamic modeling of the servo behavior renders control applications more difficult, as the performance of the control system is compromised due to model-plant mismatches. In the present paper we develop and validate experimentally a model for the behavior of the Dynamixel MX-28AT, including phenomena such as viscous friction and saturation. Such a model allows the correct simulation of the servo behavior and the adequate design of controllers.

Keywords— Modeling, Servo, Actuator

This academic publication features our DYNAMIXEL MX-28AT all-in-one smart actuators

All credit goes to Marcos R. O. A. Maximo, Carlos H. C. Ribeiro, and Rubens J. M. Afonso