Manipulator Joints Servo Motor Control Strategy

Lin Yang; Yong Yi He; Shuai Guo; Sheng Bao

doi:10.4028/www.scientific.net/AMR.694-697.1629

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 694-697Manipulator Joints Servo Motor Control Strategy

Manipulator Joints Servo Motor Control Strategy

Abstract:

The manipulator with the characteristics of strong coupling, non-linear and time-varying. According to those, the article researched the manipulator properties through dynamics and SPMSM speed regulation mechanical property, calculating the torques through Lagrange equation and transferring to relative current equations, then bringing out the manipulator servo control method based on SVPWM and high gain current feedback. Thus, the joints controls are simplified to independent joints servo motors control, realizing the high dynamic manipulator control. Finally, the validation of this method is verified by setting up the experimental platform with SPMSM and ZX165U manipulator.

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Periodical:

Advanced Materials Research (Volumes 694-697)

Pages:

1629-1633

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.694-697.1629

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Online since:

May 2013

Authors:

Lin Yang, Yong Yi He, Shuai Guo, Sheng Bao

Keywords:

Dynamic, High Gain, Manipulator, Servo Control

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