In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

In the transition to automated and automatic manufacturing an urgent problem is increase reliability of mobile robots (MR) their drives, creation devices monitor technical characteristics MR, diagnose predict remaining resource. Inspite high relevance diagnosing MR drives problem, there are no generally accepted methodology for criteria selecting methods, parameters volumes diagnostics at prese...

Speed and torque controls of permanent magnet synchronous motors are usually attained by the application of position and speed sensors. However, speed and position sensors require the additional mounting space, reduce the reliability in harsh environments and increase the cost of a motor. Therefore, many studies have been performed for the elimination of speed and position sensors. This paper i...