Design of Joint Controller Circuit for PA10 Robot Arm

Authors

  • Sereiratha Phal Department of Electrical Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok, 10330, Thailand.
  • Manop Wongsaisuwan Department of Electrical Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok, 10330, Thailand.

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.

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Published

2016-05-01

How to Cite

Phal, S., & Wongsaisuwan, M. (2016). Design of Joint Controller Circuit for PA10 Robot Arm. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 8(2), 167–171. Retrieved from https://jtec.utem.edu.my/jtec/article/view/981

Issue

Vol. 8 No. 2: Pioneering Future Innovation Through Green Technology I

Section

Articles

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