A hardware in the loop simulation for electrically driven robot manipulator
This paper proposes an approach to improve the cost-effectiveness of the control of variable speed drives in the robotics field. This could be achieved by the association of brushless DC motors (BLDCM)with a reduced structure DC/AC converter that is the three-switch inverter (TSI) equipping a robot arm. In a first step, we devoted the analysis, modelisation and control of a three-switch inverter (TSI), also known deltainverter, fed BLDCM drive. A special attention is paid to the implementation of a dedicated strategy in such a drive and the comparison of its performance with those given by the conventional inverter fed BLDCM drive. A dynamic model and the control of a robot arm have been developed. Finally, simulation results carried out in Matlab-Simulink environment considering the association of both conventional and reduced inverter fed BLDCM drive with a robot arm are treated.