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Conntrol Systems R&D - Development of a very low torque ripple, high torque, robot joint motor controller. The motor design consists of a 3-phase synchronous motor with an axial air gap and two identically wound armatures. The joint has a 360 degree range of motion. This direct drive joint is designed to improve upon conventionally achieved torque-to-mass ratios while removing gears and pulleys from the system. This virtually eliminates complex joint dynamics due to friction, backlash, and flexibility. Algorithms developed include vector control with torque ripple cancellation. |
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