Dreiemomentstyring

Dreiemomentstyring, often translated as torque control, is a method used in control systems, particularly in robotics and automation, to regulate the output torque of a motor or actuator. Instead of controlling the position or velocity of a joint, dreiemomentstyring focuses on directly commanding the amount of rotational force applied. This is achieved by measuring the motor's current or using specialized torque sensors and implementing feedback loops that adjust the motor's command signal to achieve the desired torque.

The primary advantage of dreiemomentstyring is its ability to interact with the environment in a more compliant and force-sensitive manner. This makes it ideal for applications where precise force application is crucial, such as in robotic surgery, assembly tasks involving delicate components, or human-robot interaction where safety is paramount. By controlling torque, a robot can adapt to unexpected resistance, avoid damaging objects, or apply a consistent force regardless of positional variations.

Implementing dreiemomentstyring requires accurate torque sensing and robust control algorithms. The motor controller receives a desired torque value and adjusts the motor's current accordingly. In some systems, torque is estimated indirectly through motor current measurements, while more advanced systems utilize dedicated torque sensors for higher precision. This control strategy enables a more nuanced and adaptive interaction between machines and their surroundings, moving beyond simple motion control towards more intelligent and responsive automation.