High-level 제어기를 내장한 BLDC 모터 드라이버 적용을 통한 새로운 로봇 시스템 아키텍처 제안

Abstract

This paper proposes a new robot system architecture through development of a BLDC motor driver with an embedded high-level controller. The developed BLDC motor driver not only performs basic driver functions, such as motor driving and low-level control (position, speed, current control), but also it is possible to directly connect various sensors and through this, high-level control such as model-based torque estimation, walking support algorithm, etc can be performed. If this is applied to relatively simple applications, the conventional robot system architecture of sensor-main controllermotor driver can be simplified to sensor-motor driver, which is main controller is removed. In addition, it is possible to realize a short control period by distributing large scale operations and data processing to the driver level.