DYNAMICS OF EXOSKELETON WITH PERMANENT MAGNET BRUSHLESS MOTORS
Importance of electromagnetic and mechanic process interconnections for exoskeletons driving dynamics is considered, namely, dependence of electromagnetic process upon mechanic links position. The technology of dynamic model construction by the example of 2-DOF exoskeleton module with high-torque permanent magnet motors is presented. The results of computer simulation demonstrate significant difference in dynamic processes when electromagnetic interconnections are taken into account. The certain effectiveness of non-adaptive control for exoskeleton drives is investigated.
Authors: S. V. Gavrilov, D. T. Giang, D. K. Tran
Direction: Electrical Engineering
Keywords: Exoskeleton, driving dynamics, mathematic model, electric drive, high-torque permanent magnet motor, non-adaptive control, mechatronic system
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