Next Article in Journal
Pattern Recognition of Grating Perimeter Intrusion Behavior in Deep Learning Method
Previous Article in Journal
Influence of Time Delay on Controlling the Non-Linear Oscillations of a Rotating Blade
Article

Design, Analysis, and Comparison of Control Strategies for an Industrial Robotic Arm Driven by a Multi-Level Inverter

Department of Electrical Engineering, Universidad de Santiago de Chile, Avenida Ecuador 3519, Estación Central, Santiago 9170124, Chile
*
Author to whom correspondence should be addressed.
Symmetry 2021, 13(1), 86; https://doi.org/10.3390/sym13010086
Received: 13 December 2020 / Revised: 1 January 2021 / Accepted: 3 January 2021 / Published: 6 January 2021
(This article belongs to the Section Computer Science and Symmetry/Asymmetry)
In this article, we present the design and implementation of different control strategies for the position of a 2-Degree-of-Freedom (DoF) robotic arm, namely gain scheduling per trenches, gain scheduling by interpolation, adaptive control, and fuzzy logic. The first link of this robot is driven by an Alternating Current Brushless Permanent Magnet Motor (ACBPMM) through a three-phase multi-level inverter with 27 levels of voltage per phase. Thanks to the topologies offered by ACBPMMs and to the multi-level inverter, high commutation frequencies are reduced, as observed in the computer simulations. Additionally, to determine which proposed control strategies are the most suitable for an ACBPMM connected to a multi-level inverter, a comparative study on the performance of the controllers implemented for this robot is conducted. View Full-Text
Keywords: adaptive control; fuzzy logic; gain scheduling; multi-level inverter; robot systems; servomotors adaptive control; fuzzy logic; gain scheduling; multi-level inverter; robot systems; servomotors
Show Figures

Figure 1

MDPI and ACS Style

Urrea, C.; Jara, D. Design, Analysis, and Comparison of Control Strategies for an Industrial Robotic Arm Driven by a Multi-Level Inverter. Symmetry 2021, 13, 86. https://doi.org/10.3390/sym13010086

AMA Style

Urrea C, Jara D. Design, Analysis, and Comparison of Control Strategies for an Industrial Robotic Arm Driven by a Multi-Level Inverter. Symmetry. 2021; 13(1):86. https://doi.org/10.3390/sym13010086

Chicago/Turabian Style

Urrea, Claudio, and Daniel Jara. 2021. "Design, Analysis, and Comparison of Control Strategies for an Industrial Robotic Arm Driven by a Multi-Level Inverter" Symmetry 13, no. 1: 86. https://doi.org/10.3390/sym13010086

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop