Torque control benchmarking

• Grant number: 21/15179-2
• Support Opportunities: Scholarships abroad - Research Internship - Master's degree
• Start date: June 01, 2022
• End date: November 30, 2022
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Thiago Boaventura Cunha
• Grantee: Victor Takao Bernardino Shime
• Supervisor: Marco Hutter
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Institution abroad: Swiss Federal Institute of Technology Zurich, Switzerland
• Associated to the scholarship: 20/12730-7 - Investigation of the influency of practical aspects of controllers performance, BP.MS

Abstract

The project's main objective is to extend the methodology to classify force/torque controllers. It is currently under development and it will be extended to include rotary motion using electric actuators. The project will use a test bench developed, for this purpose, at the Robotics Systems Lab at ETHZ. During the project, the torque control performance of several electrical actuators and their control algorithms will be compared. This work will complement the analysis currently being done on linear hydraulic actuators. (AU)