Anticogging: Increasing Performance From Low Cost Motors

Smooth motion is critical to robotic applications like haptics or those requiring high precision force control. These systems are often direct-drive, so any torque ripple in the motor output must be minimal. Unfortunately, low inherent torque ripple motors are expensive. We came up with a method to map and suppress torque ripple from cogging torque so low cost motors can perform as well as expensive ones.