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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Newman, W.S. Patel, J.J. |
| Copyright Year | 1991 |
| Description | Author affiliation: Case Western Reserve Univ., Cleveland, OH, USA (Newman, W.S.; Patel, J.J.) |
| Abstract | Redesign of the controller for an AdeptOne robot is described. The focus is on the production of controllable torque from Adept's nonlinear three-phase variable-reluctance motors. An experimental motor characterization and a linearizing commutation algorithm are described. Results of the torque controller are presented. Initial measurements of AdeptOne dynamic parameters obtained using the torque controller are reported. Organization of the controller within an open-architecture multiprocessor system permits rapid prototyping of a variety of control algorithms. |
| Starting Page | 1867 |
| Ending Page | 1872 |
| File Size | 433006 |
| Page Count | 6 |
| File Format | |
| ISBN | 081862163X |
| DOI | 10.1109/ROBOT.1991.131897 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1991-04-09 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Torque control Service robots Motion control Control systems Electric variables control Pulse width modulation Robotics and automation Commutation Robot control Optical feedback |
| Content Type | Text |
| Resource Type | Article |
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