A novel direct-drive motor system for the joint of the robot

A three-phase 12/8 structure switched reluctance servo motor drive system for the direct-drive joint of the robot is introduced. The component parts, such as the structure of the 12/8 structure motor, the structure of the rotor position detector, the power converter and the decoupling control of the phase voltage are presented. The mathematical models of each phase circuit in the system and the phase voltage at the different conditions and the different status, such as one phase conduction, two phase conduction, three phase conduction, and supply, chopping, commutation, based on the decoupling control of the phase voltage, are given. The tested results of the prototype are also given.