Learning Control Method for Direct Drive of Robot Arm

Control method of direct-drive arm has been studied to realize the high speed and high accuracy position control. It is one of the important problem to reduce the speed fluctuation caused by the arm weight. In this paper, a learning control method based on the periodicity of the robot arm action is proposed to drive the motor with constant speed. Availability of this control method is conformed by experiment

Cogging Torue Analysis of Permanent Magnet Motor by Finite Element Method

A cogging torque analyzing system using finite element method (FEM) is developed for permanent magnet motor. This system consists of graphic editor, mesh generator, source generator, rotor position set up program and FEM program. This system enables us to decrease both the working time and the effort for making the input data. Availability of this program is confermed by calculating the magnetic field distribution and torque of a permanent magnet DC motor