Position Control of Direct-Drive Robot Manipulators with PMAC Motors Using Enhanced Fuzzy PD Control
2004 ◽
Vol 8
(3)
◽
pp. 324-331
Keyword(s):
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.
1990 ◽
Vol 112
(4)
◽
pp. 653-660
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2018 ◽
Vol 45
(1)
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pp. 23-33
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Keyword(s):
2014 ◽
Vol 14
(1)
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pp. 141-150
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2014 ◽
Vol 551
◽
pp. 541-547
2006 ◽
Vol 129
(2)
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pp. 182-193
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2004 ◽
Vol 151
(6)
◽
pp. 675-682
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2003 ◽
Vol 22
(2)
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pp. 97-108
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