A study on close-loop control of manipulator by power packet density modulation

Toward flexible and efficient management of dispersed power sources, a power packet dispatchig system was proposed. In the system, electric power is divided into pulses and transferred with information tags attached in voltage waveforms. In this paper, we discuss close-loop control of a manipulator fed by power packets. Through numerical simulations, it is verified that an intermittent supply of power packets can meet a dynamically changing power demand of the joint motors. The results imply that the proposed system can replace the conventional power supply with the integrated transfer of power and related information.