The Modeling of PMSM During Dynamic Brake

Emergency braking of robotic systems operating alongside humans (cobots) is an important element of their operation in terms of safety during production and convenience in working and interacting with humans. Timely execution of the stop command to the robot can help prevent equipment damage, avoid accidents in the workplace, and ensure the health and safety of personnel. In this regard, ensuring emergency stopping of the robot in the event of a contingency situation is one of the most crucial aspects of its operation. This study examines several methods for emergency braking of robotic systems and presents some simulation results of emergency braking for an electric drive of a cobot.