Experience in Development of Walking Robot Servodrives with Permanent Magnet Synchronous Motors

摘要

In this paper the employment of new small permanent magnet synchronous motors with microprocessor control for the ARNE-02 walking robot with 26 degrees of freedom is described. To improve motor static and dynamic characteristics a static correction is useful which may be simplified by the proposed tabular method. Three-phase motor model in stationary reference frame was created. It helps to use MATLAB tools to calculate the robot servodrive position and speed controllers. High dynamic performance of the drive was checked by experimental tests, which showed good correlation with simulation results