Control of robot manipulator joint driven by induction motor

Robot manipulators are generally activated by permanent AC motors. The authors investigate the possibility of replacing permanent AC motors with induction motors. This work is based on the use of induction motors in high-performance drives, but their control is not compatible with the control of robotic manipulators. The hierarchic control structure of an induction motor activated robot joint is obtained and the analysis of the properties is performed. Simulation results for a manipulation task and the first robot-joint of a two-link laboratory manipulator are given