Modeling and simulation of DC-motor-chopper drive for robots

17 September 1993

proceedings article
Published by Institute of Electrical and Electronics Engineers (IEEE)

p. 212-217
https://doi.org/10.1109/icsmc.1993.390852

Abstract

International audienceMethod based on frequency approach is used to obtain a realistic model of DC permanent magnet actuator driven by a pulse width modulated (PWM) amplifier for robot application. It is a simple but accurate enough model to take into account the supply-amplifier-motor dynamics, saturations, and sampling effect

Keywords

MODEL
REALISTIC
PWM
FREQUENCY
PULSE
WIDTH
SATURATIONS
CHOPPER
TAKE

This publication has 1 reference indexed in Scilit:

Joint torque measurement of a direct-drive arm
Published by Institute of Electrical and Electronics Engineers (IEEE) ,1984