NDLI: Toward High-Speed Switching Motor Control for Human-Interactive Robotics

Content Provider	IEEE Xplore Digital Library
Author	Fiene, J. Niemeyer, G.
Copyright Year	2005
Description	Author affiliation: Telerobotics Lab Stanford University jfiene@stanford.edu (Fiene, J.)
Abstract	Traditionally focused on applications where humans have been kept safely out of reach, the field of robotics is undergoing a major shift as recent developments have brought humans much closer to robots. While device hardware has progressed to fill this new field, the underlying controller and amplifier architecture has remained nearly the same as that developed for industrial robots decades ago. Herein we develop a new, integrated control architecture designed to address the unique requirements of human-interactive robotic devices. This new architecture takes advantage of recent technological advances to produce a single-loop, third order controller integrating both switching control and a fullstate observer. In this paper, we explore the performance on a simplified, first-order system, specifically focusing on the interaction between the controller and the DC motors found in many devices. Experimental testing demonstrates improvements compared to existing PWM and linear amplifiers, with the promise of future improvements for the field of human-interactive robotics.
Starting Page	1489
Ending Page	1494
File Size	489611
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570325
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motor drives Service robots Humans Pulse width modulation Hardware Industrial control Centralized control Control systems DC motors Testing
Content Type	Text
Resource Type	Article

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