| Autor: |
Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza, Jorge Alberto Orrante-Sakanassi |
| Rok vydání: |
2020 |
| Předmět: |
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| Zdroj: |
Energy-Based Control of Electromechanical Systems ISBN: 9783030587857 |
| DOI: |
10.1007/978-3-030-58786-4_11 |
| Popis: |
Results in Chapter 4 on position regulation of permanent magnet synchronous motors, are extended to trajectory tracking of rigid robots equipped with direct-drive permanent magnet synchronous motors as actuators. The complete stability proofs are included in this chapter. Our study renders possible to state that perfect trajectory tracking of mechanical systems is limited by the employment of internal PI electric current controllers. This is important to underline since most researches in the control community are not aware of this fact. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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