Voltage Control Strategy for Direct-drive Robots Driven by Permanent Magnet Synchronous Motors

Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of permanent magnet synchronous motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is achallenging problem. This article presents a novel tracking control of electrically driven robots which is simple and free from manipulator model. The novelty is the developing of voltage control strategyfor the direct-drive robots driven by PMSMs. In addition, a state-space model is obtained for therobotic system including the direct-drive robot manipulator and the PMSMs. Then, the proposed approach is verified by stability analysis. A comparative study through simulations shows the superiority of the voltage control strategy to the torque control strategy

کلیدواژه ها:

Direct-Drive Robot ، Permanent Magnet Synchronous Motor ، Torque Control Strategy ، Voltage Control Strategy ،