Research on Torque Control System of Robot Joint Motor Based on MATLAB / Simulink
Conference: MEMAT 2022 - 2nd International Conference on Mechanical Engineering, Intelligent Manufacturing and Automation Technology
01/07/2022 - 01/09/2022 at Guilin, China
Proceedings: MEMAT 2022
Pages: 5Language: englishTyp: PDF
Authors:
Cheng, Wei; Xiao, Jin; Qu, Fu-Kang (Guangzhou Huali College, Guangzhou, China)
Cai, Kai-Wu (School of Advanced Manufactruing, School of Electromechanical Engineering, Guangdong University of Technology, Jieyang, China)
Abstract:
Through the transformation relationship between magnetic field and current vector during the rotation of robot joint motor, Clark and park transformation program modules are compiled in MATLAB/Simulink. In order to study the speed change relationship of robot joint motor when loading different loads, the main computer program is compiled in MATLAB/Simulink, and the simulation analysis and experimental research are carried out. The experimental process can accurately and dynamically detect the varied speed of robot joint motor under different loads, and the change relationship is consistent with the theoretical analysis, which proves the practicability of the control program.