Fig 1.
Power-train schematic at each joint.
Fig 2.
Commutation sequence of a BLDC motor.
Fig 3.
Torque-position control scheme for BLDC motors.
Fig 4.
One iteration of the NSGA-II algorithm.
Fig 5.
Robot configuration.
Fig 6.
Inverter scheme of each joint.
Fig 7.
Tracking error of the desired task.
Table 1.
Control gain values of nominal solution.
Fig 8.
Pareto-Front of the multi-objective optimization problem.
The non-dominated solutions are classified into Group 1, Group 2, and Group 3.
Table 2.
Comparative fitness.
Table 3.
Control gain values for the selected solution.
Table 4.
Comparison between nominal and selected solutions.
Fig 9.
Tracking error for the selected solution.
Fig 10.
Obtained trajectory in Cartesian space.
Fig 11.
Third joint, angular position.
Fig 12.
Third joint, voltage and current.