Allan Zhao

EECS Department, University of California, Berkeley

Technical Report No. UCB/EECS-2018-86

May 23, 2018

http://www2.eecs.berkeley.edu/Pubs/TechRpts/2018/EECS-2018-86.pdf

The design of a brushless servomotor as well as its application in a low-cost, compliant 7-DOF robot arm are presented. The recent popularity of consumer drones has led to a significant reduction in the cost of high-torque brushless gimbal motors. These motors offer a unique set of advantages for robotic manipulation, but are not typically used for this purpose. A servomotor based on brushless gimbal motors is designed and implemented, including custom electronics and firmware. Cost reduction is achieved by using commodity components and taking system-level considerations into account. The servo achieves active compliance using velocity sensing and high bandwidth field oriented control. Design decisions and tradeoffs are discussed.

Advisors: Pieter Abbeel

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BibTeX citation:

@mastersthesis{Zhao:EECS-2018-86,
    Author= {Zhao, Allan},
    Title= {Design of a Brushless Servomotor for a Low-cost Compliant Robotic Manipulator},
    School= {EECS Department, University of California, Berkeley},
    Year= {2018},
    Month= {May},
    Url= {http://www2.eecs.berkeley.edu/Pubs/TechRpts/2018/EECS-2018-86.html},
    Number= {UCB/EECS-2018-86},
    Abstract= {The design of a brushless servomotor as well as its application in a low-cost, compliant 7-DOF robot arm are presented. The recent popularity of consumer drones has led to a significant reduction in the cost of high-torque brushless gimbal motors. These motors offer a unique set of advantages for robotic manipulation, but are not typically used for this purpose. A servomotor based on brushless gimbal motors is designed and implemented, including custom electronics and firmware. Cost reduction is achieved by using commodity components and taking system-level considerations into account. The servo achieves active compliance using velocity sensing and high bandwidth field oriented control. Design decisions and tradeoffs are discussed.},
}

EndNote citation:

%0 Thesis
%A Zhao, Allan 
%T Design of a Brushless Servomotor for a Low-cost Compliant Robotic Manipulator
%I EECS Department, University of California, Berkeley
%D 2018
%8 May 23
%@ UCB/EECS-2018-86
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/2018/EECS-2018-86.html
%F Zhao:EECS-2018-86