Motion control firmware for high-speed robotic systems

被引：29

作者：

Chang, Timothy N. ^{[1
]}

Cheng, Biao ^{[1
]}

Sriwilaijaroen, Paiboon ^{[1
]}

机构：

[1] New Jersey Inst Technol, Dept Elect & Comp Engn, Newark, NJ 07102 USA

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2006年 / 53卷 / 05期

关键词：

command shaping; digital signal processor (DSP); motion control; robot control;

D O I：

10.1109/TIE.2006.881957

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the hardware and software platforms of high-speed robot control systems, which are usually integrated with multimodal sensing, multiaxis motion, and complex algorithmic capabilities. In this paper, robot control is considered from numerical processor chip architecture, board-level features, to software development cycles. Various numerical processors ranging from general purpose processors to digital signal processors are examined. This is followed by a review of the common motion control boards. Cross platform and upward compatible software development are addressed. Finally, an example application of real-time slewing control of a high-speed industrial robot is provided.

引用

页码：1713 / 1722

页数：10

共 15 条

[1]

BARAMBONES O, 1998, P 1998 INT C CONTR, V2, P1646

[2]

Bona B, 2001, IEEE ASME INT C ADV, P349, DOI 10.1109/AIM.2001.936479

[3] Optimal input shaper design for high-speed robotic workcells [J].

Chang, T ;

Godbole, K ;

Hou, E .

JOURNAL OF VIBRATION AND CONTROL, 2003, 9 (12) :1359-1376

[4] Web-based command shaping of cobra 600 robot with a swinging load [J].

Chang, Timothy ;

Jaroonsiriphan, Puttiphong ;

Bernhardt, Michael ;

Ludden, Paul .

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2006, 2 (01) :59-69

[5]

CHANG TN, 2004, ENCY LIFE SUPPORT SY

[6] Integrating embedded PC and Internet technologies for real-time control and imaging [J].

Feng, X ;

Velinsky, SA ;

Hong, DC .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2002, 7 (01) :52-60

[7]

GANDER H, 1994, P IEEE INSTR MEAS TE, V1, P372

[8] Real-time implementation of a robust adaptive controller for a robotic manipulator based on digital signal processors [J].

Han, SH ;

Lee, MH ;

Mohler, RR .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS, 1999, 29 (02) :194-204

[9]

MOATEMRI MH, 1991, P IEEE IAS ANN M, P1425

[10]

PAO LY, P AM CONTR C ALB, P3542

← 1 2 →