Felipe J. Torres1,*, Gerardo V. Guerrero2, Carlos D. García2, Ricardo Zavala-Yoe3, Mario A. García1, Adolfo R. López4
CMES-Computer Modeling in Engineering & Sciences, Vol.121, No.2, pp. 609-630, 2019, DOI:10.32604/cmes.2019.07153
Abstract A complete modeling (including the actuator dynamics) of a robot manipulator
that uses three-phase induction motors is presented in this paper. A control scheme is
designed to synchronize robot manipulators actuated by induction motors under a masterslave
scheme in the case where the joint velocity of the slave robots is estimated. All
of the research on the synchronization of robot manipulators assumes the use of ideal
actuators to drive the joints; for that reason, in this work, a three-phase induction motor
is considered to be a direct-drive actuator for each joint. An entire model of the mated
system is obtained… More >
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