Keywords
Brushless motor
Motor drive
FOC
Submitted : 2026-01-14
Accepted : 2026-01-29
Published : 2026-02-13
Abstract
To meet the requirements of high performance, low cost, and modularity in robotic arm joints, this study designs an integrated brushless motor drive and control system. The system selects the STM32G473 microcontroller as the control chip and adopts field-oriented control as the primary motor control algorithm. Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the study performs closed-loop experiments on the robotic arm joint. The experimental results demonstrate that the designed drive and control system for robotic arm joints exhibits a favorable dynamic response and steady-state performance, making it suitable for controlling desktop-level and lightweight robotic arms.
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