Actuators, Volume 8, Issue 4 (December 2019) – 12 articles
Cover Story (view full-size image): Next-generation robotics such as collaborative robots, exoskeletons, and legged robots all require a level of compliance. Active impedance control offers variable parameters compared to passive elements like springs and dampers with constant parameters. Implementing this requires high-bandwidth robust torque control, which induces noise issues even if high-end sensors are used. To address this, a complete controller design scheme of a BLDC motor, including field-oriented control (FOC), is proposed. A novel speed and angle observer reducing noise from the angle sensor and a Kalman-based torque observer reducing noise from the phase current sensors are demonstrated. The paper demonstrates and benchmarks the method in practice, and all details and materials are disclosed, offering a ready-to-use approach to compliant robots. View this paper
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