In industrial automation and robotic applications, direct-drive motors represent a suitable solution to friction and backlash problems typical of mechanical reduction gears. Vari- able reluctance (VR) motors are well suited for direct-drive implementation but, because of the strongly nonlinear elec- tromechanical characteristics, these motors are traditionally designed as stepper motors. The main aim of the work described in the paper is the design Of a high-performance ripple-free dynamic torque controller for A VR motor, intended for trajectory tracking in robotic applica- Tions.
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