Design of Joint Controller Circuit for PA10 Robot Arm

Abstract

This paper presents the design of circuit and algorithms for controlling the joint of Mitsubishi PA10 Robot Arm. To control the entire Mitsubishi PA10 arm robot, which all the joints equip with a permanent magnet synchronous motor (PMSM) for rotation and two resolvers as feedback devices, one for joint angle position and another one for rotor angular position, the joint controller is really important. The aim of the joint controller design in this paper is to be able to drive the whole PA10 robot arm when combining seven of this controller to meet the seven joints of the robot.