A Review of Torque Control Technology for Robotic Joint Servo Systems

SHI Tingna; TAN Benkang; XU Yiyang; CAO Yanfei

doi:10.13334/j.0258-8013.pcsee.241599

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A Review of Torque Control Technology for Robotic Joint Servo Systems

更新时间：2026-09-19

- A Review of Torque Control Technology for Robotic Joint Servo Systems
- Issue 24, Pages: 9725-9740(2025)
- 作者机构：
  
  1. 浙江大学电气工程学院,浙江省,杭州市,310027
  2. 浙江大学先进电气装备创新中心,浙江省,杭州市,311107
- 作者简介：
- 基金信息：
- DOI：10.13334/j.0258-8013.pcsee.241599
  CLC：
- Published：2025
- 稿件说明：
移动端阅览
SHI Tingna, TAN Benkang, XU Yiyang, et al. A Review of Torque Control Technology for Robotic Joint Servo Systems[J]. 2025, (24): 9725-9740.
DOI：

SHI Tingna, TAN Benkang, XU Yiyang, et al. A Review of Torque Control Technology for Robotic Joint Servo Systems[J]. 2025, (24): 9725-9740. DOI： 10.13334/j.0258-8013.pcsee.241599.

摘要

随着机器人技术的快速发展，关节力矩控制作为机器人运动控制的核心，是近年来机器人关节伺服控制领域的研究热点之一。该文旨在对机器人关节伺服系统力矩控制方面的研究工作进行系统性综述。首先，介绍机器人关节伺服系统结构组成与建模，并梳理关节力矩控制所面临的技术难题。其次，对现有力矩控制方法进行分类和归纳，详细阐述各类方法的基本原理。在此基础上，深入探讨机器人关节伺服系统各类力矩控制方法的适用范围以及所面临的挑战。最后，对机器人关节伺服系统力矩控制技术的未来发展趋势进行展望，以期为理论研究和技术路线的创新发展提供一些思考和借鉴。

Abstract

With the rapid development of robotic technology

joint torque control

as the core of robot motion control

has become a focal point of research in the field of robotic joint servo control in recent years. This paper aims to provide a systematic review of research on torque control in robotic joint servo systems. First

the structure and modeling of robotic joint servo systems are introduced

and the technical challenges faced by joint torque control are outlined. Subsequently

existing torque control methods are categorized and summarized

with a detailed explanation of the fundamental principles of each method. Based on this

the applicability and challenges of various torque control methods within robotic joint servo systems are thoroughly explored. Finally

the paper provides a comprehensive outlook on the future development trend of torque control technology in robotic joint servo systems

offering insights and reference for the innovation and development of theoretical research and technological approaches.

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