NDLI: Toward switching motor control

Content Provider	IEEE Xplore Digital Library
Author	Fiene, J. Niemeyer, G.
Copyright Year	1996
Abstract	Traditionally focused on applications where humans are safely out of reach, the field of robotics was developed to perform repetitive tasks with high precision and accuracy. In contrast, recent developments have opened up a new subfield of robotics in which users are in direct contact with robotic devices. This physical interaction requires the device to be sensitive to human contact while maintaining performance. While hardware designs have progressed to fill this new area, the underlying controller remains nearly the same as that developed for industrial robots decades ago, imposing limits on the performance of the overall system. To address the unique requirements of these human-interactive robotic devices, we are working to replace the traditional amplifier with a high-speed switching controller. Combining the simplicity and efficiency of pulsewidth modulation with the high bandwidth of linear amplifiers, this approach demonstrates performance gains when implemented as a closed-loop current controller. We also extend this design to the proposal of a third-order architecture to combine an amplifier and servo controller into an integrated system with the potential to overcome the fundamental limits of today's systems and enable the future of human-interactive robotics.
Starting Page	27
Ending Page	34
Page Count	8
File Size	842621
File Format	PDF
ISSN	10834435
Volume Number	11
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-02-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motor drives Robot sensing systems Service robots Pulse amplifiers Humans Control systems Hardware Electrical equipment industry Industrial control Space vector pulse width modulation permanent-magnet motors Bang-bang control motor drives
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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