What is it about?
It is about the synchronization of robot manipulators when the actuator is a three-phase induction motor, thus, the controller is designed by the consideration of the complete model, robot manipulator plus induction motor. Besides, an observer based on the model is proposed to estimate the fluxes and currents of the induction motor.
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Why is it important?
The industrial robot manipulators are driven by servomotors, the most common is the DC-brushless permanent magnet motor. This motor is expensive by the initial purchase and maintenance. An alternative might be the use of induction motor, which is of low-cost and high output torque, but it is difficult to control due to fact that it holds a highly non-linear dynamics.
Perspectives
To implement this approach of synchronization with several robot manipulators to evaluate the efficiency of the performance with experimental results.
Felipe de Jesús Torres
Universidad de Guanajuato
Read the Original
This page is a summary of: Synchronization control for robot manipulators driven by induction motors with flux and velocity observers, Transactions of the Institute of Measurement and Control, July 2019, SAGE Publications,
DOI: 10.1177/0142331219862975.
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