Thermal aspects of field weakening implementation for robotics applications

The paper describes the implementation and tests of the field weakening algorithm for robotics applications. The tests have been done both in a test bench as well as in a robot prototype. The emphasis on the analysis has been put on the thermal behaviour of the motor at higher speeds, as this is an important limiting factor when operating in a manipulator. The field weakening region is kept under 20 % of the based speed, where the motor losses are the same or lower when compared to the normal operation