RA-L 201915 citations
Task-Based Control and Design of a BLDC Actuator for Robotics
Avik De, Abriana Stewart-Height, Daniel E. Koditschek
Abstract
This letter proposes a new multi-input brushless dc motor current control policy aimed at robotics applications. The controller achieves empirical improvements in steady-state torque and power-production abilities relative to conventional controllers, while retaining similarly good torque-tracking and stability characteristics. Simulations show that non-conventional motor design optimizations, whose feasibility is established by scaling model extrapolations from existing motor catalogs, can vastly amplify the effectiveness of this new control strategy.
BibTeX
@inproceedings{ral2019_taskbasedcontrol,
title = {Task-Based Control and Design of a BLDC Actuator for Robotics},
author = {Avik De and Abriana Stewart-Height and Daniel E. Koditschek},
booktitle = {RA-L 2019},
year = {2019}
}