Paper:
Language: English:

Position Control of Direct-Drive Robot Manipulators with PMAC Motors Using Enhanced Fuzzy PD Control

Dong Sun^, Y. X. Su^, and James K. Mills^**

*Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, 83 Tat Chee Avenue, Kowloon, Hong Kong
**Department of Mechanical and Industrial Engineering, University of Toronto, 5 King\'s College Road, Toronto, Ontario, Canada

Received: May 15, 2003

Accepted: March 20, 2004

Keywords: position control, direct-drive manipulator, PMAC, fuzzy PD control

Journal ref: Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol.8, No.3 pp. 324-331, 2004

Abstract

A position control approach for direct-drive robot manipulators with permanent magnet AC (PMAC) motors is proposed. The conventional vector control architecture has been simplified by specifying the motor stator phase so that the rotating d-axis current is zero. The position control is designed to be an enhanced fuzzy PD controller, by incorporating two nonlinear tracking differentiators into a conventional fuzzy PD controller. The proposed control methodology is easy to implement, and exhibits better control performance than conventional control methods. Experiments conducted on a single-link manipulator directly driven by a PMAC motor demonstrate the validity of the proposed approach.

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