TY - CHAP
T1 - Trajectory Tracking for Robot Manipulators Equipped with PM Synchronous Motors
AU - Hernández-Guzmán, Victor Manuel
AU - Silva-Ortigoza, Ramón
AU - Orrante-Sakanassi, Jorge Alberto
N1 - Publisher Copyright:
© 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2021
Y1 - 2021
N2 - Results in Chapter 4 on position regulation of permanent magnet synchronous motors, are extended to trajectory tracking of rigid robots equipped with direct-drive permanent magnet synchronous motors as actuators. The complete stability proofs are included in this chapter. Our study renders possible to state that perfect trajectory tracking of mechanical systems is limited by the employment of internal PI electric current controllers. This is important to underline since most researches in the control community are not aware of this fact.
AB - Results in Chapter 4 on position regulation of permanent magnet synchronous motors, are extended to trajectory tracking of rigid robots equipped with direct-drive permanent magnet synchronous motors as actuators. The complete stability proofs are included in this chapter. Our study renders possible to state that perfect trajectory tracking of mechanical systems is limited by the employment of internal PI electric current controllers. This is important to underline since most researches in the control community are not aware of this fact.
UR - http://www.scopus.com/inward/record.url?scp=85097271442&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-58786-4_11
DO - 10.1007/978-3-030-58786-4_11
M3 - Capítulo
AN - SCOPUS:85097271442
T3 - Advances in Industrial Control
SP - 469
EP - 487
BT - Advances in Industrial Control
PB - Springer Science and Business Media Deutschland GmbH
ER -