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PROCESSING OF COMMAND SIGNALS AND REDUCING OSCILLATIONS IN CONTINUOUS PATH ROBOT CONTROL
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| Author(s) |
P. Rojek; J. Olomskl; W. Leonhard |
| Abstract |
General purpose industrial robots possess six or more degrees of freedom and a corresponding number of independent - usually electrical - drives with speed and position control. Continuous path motion, where the tool is to follow a reference path with small dynamic position error, calls for elaborate processing of command signals in combination with feed-forward control and active damping of undesirable oscillations. A multi-microprocessor system containing modern signal processors is capable of solving these demanding real-time control problems. Also the electronic power converter must be of sufficient control bandwidth in order to accommodate the command signals. |
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| Filename: | Unnamed file |
| Filesize: | 3.746 MB |
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| Type |
Members Only |
| Date |
Last modified 2021-03-01 by System |
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