Design, analysis and experimental verification of a permanent magnet AC servomotor for mobile robot applications

This paper focuses on design, development, demonstration and experimental verification of a permanent magnet AC servomotor for a mobile robot application. Design and analysis of the motor are carried out for both magnetic and structural designs. Efforts to eliminate the cogging torque component are performed and ripple-free torque output is attained. Motor prototype is built and motor performance is experimentally verified. Good agreement between the test results and the designed motor is achieved.