Universal multiaxis control system for electric drives

Krzysztof Kozłowski; Michał Kowalski; Mateusz Michalski; Paweł Parulski

doi:10.1109/TIE.2012.2206345

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Title

Universal multiaxis control system for electric drives

Authors

Krzysztof Kozłowski (WI) ^{[ 1 ][ P ]}
Michał Kowalski (WI) ^{[ 1 ][ P ]}
Mateusz Michalski (WI) ^{[ 1 ][ P ]}
Paweł Parulski (WI) ^{[ 1 ][ P ]}

^{[ 1 ]} Katedra Sterowania i Inżynierii Systemów, Wydział Informatyki, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2013

Published in

IEEE Transactions on Industrial Electronics

Journal year: 2013 | Journal volume: vol. 60 | Journal number: iss. 2

Article type

scientific article

Publication language

english

Keywords

EN

electric motor controller
industrial control applications
motion control
walking robot

Abstract

EN This paper presents a solution for universal multidrive control system, which can be used as a base for the rapid prototyping of various kinematic structures, particularly in robotics, for multiple-axis synchronization tasks, or as a test bed for verification of modern control algorithms for electric drives. The example of the practical application of the proposed system was also given: It was used during prototyping process of a quadruped walking robot, powered by multiple electric motors. The abilities and performance of the system were verified with the attempt to realize the dynamic gait of the robot.

Pages (from - to)

691 - 698

DOI

10.1109/TIE.2012.2206345

URL

https://ieeexplore.ieee.org/document/6226860

Ministry points / journal

50

Impact Factor

6,5

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