Systems and methods for reducing electromagnetic interference in robotic devices

An electrical circuit, comprising:

• a power source and rectifier that are configured to provide energy to a plurality of axes, wherein each of the plurality of axes includes a motor and a drive that is configured to operate a load, and wherein the power source and the rectifier are electrically coupled to an electromagnetic interference (EMI) filter;
• the EMI filter, wherein the EMI filter is configured to reduce EMI noise and suppress leakage current from the plurality of axes, and wherein the EMI filter is electrically coupled to the plurality of axes such that the EMI filter is between the rectifier and the plurality of axes, wherein the EMI filter comprises a plurality of small split common mode chokes, wherein each of the plurality of small split common mode chokes is associated with a different axis of the plurality of axes, and wherein the small split common mode chokes comprise an inductance less than 500 nano-Henrys;
• and
• the plurality of axes comprising a plurality of drives and a plurality of motors that are configured to operate a plurality of loads,
• wherein a controller is configured to control phase-shift switching of the plurality of axes to further reduce the EMI noise and suppress the leakage current.

A method, comprising:

• controlling, by a controller of a robotic device, phase-shift switching of a plurality of axes to reduce electromagnetic interference (EMI) noise and suppress leakage current;
• and
• using, by an electrical circuit of the robotic device, an EMI filter to further reduce the EMI noise and suppress the leakage current from the plurality of axes,
• wherein the electrical circuit comprises a power source, a rectifier, the EMI filter, and the plurality of axes,
• wherein the EMI filter is electrically coupled to the plurality of axes such that the EMI filter is between the rectifier and the plurality of axes,
• wherein the EMI filter comprises a plurality of small split common mode chokes,
• wherein each of the plurality of small split common mode chokes is associated with a different axis of the plurality of axes, and
• wherein the small split common mode chokes comprise an inductance less than 500 nano-Henrys.