Torque Control for a Joint Actuated by a Brushless Motor

Position-controlled robots have been widely used in industrial area. However, position control is usually based on simple kinematic models which cannot compensate for the dynamics of the robot.  Thus, joint torque control based on a dynamic model are preferred for most of research robots and for robots which require higher precision in position tracking or, for instance, in high-speed movements.In this talk, two alternative torque control strategies: vector control and torque-position transformer will be introduced and compared with the simulation results. And a Simulink-to-FPGA method for the hardware implementation will be presented.