Research Oriented Motor Controllers for Robotic Applications

  • Michał Walęcki
  • Konrad Banachowicz
  • Tomasz Winiarski
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 422)


Motor controllers are vital parts of robotic manipulators as well as their grippers. Typical, commercial motor controllers available on the market are developed to work with high level robot industrial controllers, hence their adaptation to work as a part of a scientific, experimental robotic system is problematic. The general concept of research oriented motor controllers for robotic systems is presented in this article as well as an exemplary gripper and manipulator application based on this concept.


Motor Driver Robotic Application Motor Controller BLDC Motor Master Controller 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Brochure - Servo Drives Catalog-Elmo SimplIQ (2009),
  2. 2.
    dSPACE website (2011),
  3. 3.
    Maxon Product Range (2011),
  4. 4.
    National instruments on-line catalogue (2011),
  5. 5.
    Shunk on-line catalogue (2011),
  6. 6.
    Bielewicz, Z., Debowski, L., Lowiec, E.: A DSP and FPGA based integrated controller development solutions for high performance electric drives. In: Proceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1996, vol. 2, pp. 679–684. IEEE (1996)Google Scholar
  7. 7.
    Bruyninckx, H.: The real–time motion control core of the OROCOS project. In: Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, pp. 2766–2771. IEEE (2003)Google Scholar
  8. 8.
    Liu, H., Wu, K., Meusel, P., Seitz, N., Hirzinger, G., Jin, M., Liu, Y., Fan, S., Lan, T., Chen, Z.: Multisensory five-finger dexterous hand: The DLR/HIT Hand II. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2008, pp. 3692–3697. IEEE (2008)Google Scholar
  9. 9.
    Wawrzyski, P., Winiarski, T.: Manipulator trajectory optimization based on learning techniques. In: XI Krajowa Konferencja Robotyki – Problemy Robotyki, Oficyna Wydawnicza Politechniki Warszawskiej, vol. 2, pp. 485–494 (2010) (in Polish), Optymalizacja trajektorii manipulatora w oparciu o metody uczenia sięGoogle Scholar
  10. 10.
    Winiarski, T., Zieliński, C.: Specification of multi-robot controllers on an example of a haptic device. In: Kozłowski, K.R. (ed.) Robot Motion and Control 2009. LNCIS, vol. 396, pp. 227–242. Springer, Heidelberg (2009)CrossRefGoogle Scholar
  11. 11.
    Zieliński, C., Winiarski, T.: Motion Generation in the MRROC++ Robot Programming Framework. International Journal of Robotics Research 29(4), 386–413 (2010)CrossRefGoogle Scholar

Copyright information

© Springer London 2012

Authors and Affiliations

  • Michał Walęcki
    • 1
  • Konrad Banachowicz
    • 1
  • Tomasz Winiarski
    • 1
  1. 1.Institute of Control and Computation EngineeringWarsaw University of TechnologyWarsawPoland

Personalised recommendations