A mechanical simulator for testing and evaluating electrical drives for robotics applications

The authors discuss electric drives currently employed in robotics and evaluate their performance in comparison with new kinds of motors now available. The importance of the control system in view of the motion coordination of different drives is stressed. In order to reliably evaluate these aspects, the authors propose an articulated structure to be employed as a development tool for both testing the individual drive performances and defining the control unit assembly and the regulation strategy which satisfies requirements.<
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