A robust control law is derived and examined for a direct-drive robot arm driven by a brushless DC motor (BLDCM). The complete dynamics of the motor and its interaction with the robot arm are accounted for. This is important, since in a direct-drive servo system the torque generated by the motor is directly transmitted to the load. Effects of magnetic saturation as well as reluctance variations are accounted for, in order to ensure accuracy. The effectiveness of the method is examined through computer simulations. The computational complexity of the overall control scheme is such that it can be readily used for real-time control

Meeting Name

IEEE International Conference on Systems Engineering, 1990


Mechanical and Aerospace Engineering

Keywords and Phrases

DC Motors; Brushless DC Motors; Direct-Drive Servo System; Dynamics; Machine Control; Magnetic Saturation; Nonlinear Control; Nonlinear Control Systems; Reluctance Variations; Robot Arm; Robots; Servomotors; Torque

Document Type

Article - Conference proceedings

Document Version

Final Version

File Type





© 1990 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Jan 1990