Referenced Items are not available for this document.
Redesign of the controller for an AdeptOne robot is described. The focus is on the production of controllable torque from Adept's nonlinear three-phase variable-reluctance motors. An experimental motor characterization and a linearizing commutation algorithm are described. Results of the torque controller are presented. Initial measurements of AdeptOne dynamic parameters obtained using the torque controller are reported. Organization of the controller within an open-architecture multiprocessor system permits rapid prototyping of a variety of control algorithms
Published in:
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Date of Conference: 9-11 Apr 1991
- Page(s):
- 1867 - 1872 vol.2
- Meeting Date :
- 09 Apr 1991-11 Apr 1991
- Print ISBN:
- 0-8186-2163-X
- INSPEC Accession Number:
- 4106526
- Conference Location :
- Sacramento, CA
- Digital Object Identifier :
- 10.1109/ROBOT.1991.131897
- Product Type:
- Conference Publications
About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies
A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
