Experience in Development of Walking Robot Servodrives with Permanent Magnet Synchronous Motors

Author

Mikerov, Alexander G. ; Djankhotoff, Valentine V.

Volume

3

fYear

2006

fDate

9-13 July 2006

Firstpage

2128

Lastpage

2133

Abstract

In this paper the employment of new small permanent magnet synchronous motors with microprocessor control for the ARNE-02 walking robot with 26 degrees of freedom is described. To improve motor static and dynamic characteristics a static correction is useful which may be simplified by the proposed tabular method. Three-phase motor model in stationary reference frame was created. It helps to use MATLAB tools to calculate the robot servodrive position and speed controllers. High dynamic performance of the drive was checked by experimental tests, which showed good correlation with simulation results

Keywords

angular velocity control; legged locomotion; machine control; microprocessor chips; permanent magnet motors; servomechanisms; synchronous motor drives; ARNE-02 walking robot; MATLAB tools; microprocessor control; permanent magnet synchronous motors; robot servodrive position; speed controllers; stationary reference frame; three-phase motor model; walking robot servodrives; Employment; Legged locomotion; MATLAB; Mathematical model; Microprocessors; Permanent magnet motors; Robots; Servomotors; Synchronous motors; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2006 IEEE International Symposium on

Conference_Location

Montreal, Que.

Print_ISBN

1-4244-0496-7

Electronic_ISBN

1-4244-0497-5

Type

conf

DOI

10.1109/ISIE.2006.295902

Filename

4078577