Modular motor driver with torque control for gripping mechanism

• Main Authors: How D.N.T., Baharuddin M.Z., Mohideen S.S.K., Sahari K.S.M., Anuar A.
• Other Authors: 56942483000
• Format: Conference paper
• Published: Elsevier Ltd 2023
• Subjects: Current flow sensing; DC motor control; Gripping actuator; PD controller; PI controller; PID controller; Torque control

This paper presents the algorithms for controlling the torque of a DC motor via a motor driver. Controlling the torque of the DC motor is achieved via PWM variations. The core of the project lies in the capability of the algorithm to regulate PWM to the motor by sensing the average current flow. Thi...