Development of a BLDC controller for integration into a robotic manipulator

• Autor(a) principal: Coquim, André Miguel Lopes
• Data de Publicação: 2020
• Tipo de documento: Dissertação
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: http://hdl.handle.net/10773/29796
• topic: Motor; BLDC; PID; Speed Profile; CAN

This thesis describes the work done in the creation and development of an anthropomorphic robotic arm shoulder driver under the CAMBADA@Home project. At the beginning of this project, a study is done on the various types of electric motors available, as well as ways to get feedback on the position and speed of some of these components, for example using encoders. Later, a suitable architecture for the robotic arm controller is made, as well as a selection of components so that it can be implemented with it. This gave rise to a prototype that was later demonstrated. Information and results related to its development are presented, namely, relevant electrical signals, the system response when unloaded, for both open loop and closed loop under the effect of a PID controller, a speed profile implementation and results related to CAN communication. Finally, an analysis is made and conclusions are taken about the developed work and what is left to be done in the future.