Control method achieving tension feedback and joint position feedback and used for flexibility driving unit for robot joint

The invention discloses a control method achieving tension feedback and joint position feedback and used for a flexibility driving unit for a robot joint and belongs to the field of robot application and control. The invention aims to realize the tension feedback and the joint full-closed loop control of the flexibility driving unit for the robot joint so as to reduce flexibility driving joint control errors and improve system frequency response. The method discloses a control strategy based on viscoelasticity kinetic model compensation and gives the design of the flexibility driving unit controller. A front feed controller is designed according to a steel wire elastic deformation formula and a feedback controller is designed according to a motor angle estimate value formula. The design method is suitable for the design of a controller of the flexibility driving unit for the robot joint. Hardware of a flexibility driving unit control system is constructed, joint position feedback is performed through a joint encoder and motor position feedback is performed by utilizing motor position estimated values, so that full closed-loop position control of the control system of the driving unit is realized. Compared with a classic PID(Proportion Integration Differentiation) control method, servo control precision can be improved distinctively, tracking errors can be reduced and system frequency response can be improved.