Abstract
A position control approach for direct-drive robot manipulators with permanent magnet AC (PMAC) motors is proposed. The conventional vector control architecture has been simplified by specifying the motor stator phase so that the rotating d-axis current is zero. The position control is designed to be an enhanced fuzzy PD controller, by incorporating two nonlinear tracking differentiators into a conventional fuzzy PD controller. The proposed control methodology is easy to implement, and exhibits better control performance than conventional control methods. Experiments conducted on a single-link manipulator directly driven by a PMAC motor demonstrate the validity of the proposed approach.
| Original language | English |
|---|---|
| Pages (from-to) | 324-331 |
| Journal | Journal of Advanced Computational Intelligence and Intelligent Informatics |
| Volume | 8 |
| Issue number | 3 |
| Online published | 20 May 2004 |
| DOIs | |
| Publication status | Published - 2004 |
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