Robust, direct torque control of induction motor drives in application to industrial manipulator

The paper analyses the application of three-phase small induction motors as the drives for industrial manipulator joints and their control related problems. By introducing a robust control to the whole systems in which the direct torque control is applied to driving motors, the solution presented is not only realistic but also yields high quality of trajectory tracking. The problem is widely illustrated by simulated results of manipulator´s operation with that kind of drives including several control system options