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