Experiments in torque control of the AdeptOne robot

Redesign of the controller for an AdeptOne robot is described. The focus is on the production of controllable torque from Adept´s nonlinear three-phase variable-reluctance motors. An experimental motor characterization and a linearizing commutation algorithm are described. Results of the torque controller are presented. Initial measurements of AdeptOne dynamic parameters obtained using the torque controller are reported. Organization of the controller within an open-architecture multiprocessor system permits rapid prototyping of a variety of control algorithms