Design and implementation of minimal components brushless DC motor driver for mobile robots

Abstract

There exist many challenges in designing a perfect brushless de (BLDC) motor driver especially in robotic applications with various constraints. One of the practical limitations in this paper is shortage of space for implementation of the board for a small mobile robot. The process of design and implementation of four BLDC motor drivers with minimal components for a four wheel omni directional robot is presented. Several methods with their drawbacks and advantages are compared to show the preferences of the proposed mechanism. The improved performance of this mechanism is also evaluated in small size soccer robots challenging matches during participation in Robocup competitions.