Title :
The design and development of a control system for a T3-776 robot
Author :
Geisinger, Joseph W. ; Aalund, Martin P. ; Tesar, Delbert
Author_Institution :
Dept. of Mech. Eng., Texas Univ., Austin, TX, USA
Abstract :
A robot control system is designed, developed and tested for a six degree-of-freedom (T3776) industrial robot. The new robotic control system can be divided into two major subsections, i.e., the servo amplifiers and the system controller. The improvements in performance some of the implementation difficulties, and the lessons learned during the implementation of the new control system are discussed. The new system controller has a 32 b high-speed processor that can be easily expanded, reprogrammed, and interfaced to other computers. The servo amplifiers use a PWM methodology to control an H-bridge which utilizes state-of-the-art insulated gate bipolar transistor (IGBT) power modules and is capable of both current and velocity control
Keywords :
amplifiers; bridge circuits; digital control; electric control equipment; electric current control; industrial robots; insulated gate bipolar transistors; machine control; microcomputer applications; power transistors; pulse width modulation; servomotors; velocity control; 32 bit; H-bridge; IGBT; PWM; T3776; current control; degree-of-freedom; design; development; digital control; insulated gate bipolar transistor; microprocessors; performance; power transistors; robot control system; servo amplifiers; state-of-the-art; system controller; velocity control; Control systems; Electrical equipment industry; Industrial control; Insulated gate bipolar transistors; Pulse width modulation; Robot control; Service robots; Servomechanisms; System testing; Velocity control;
Conference_Titel :
Applied Power Electronics Conference and Exposition, 1993. APEC '93. Conference Proceedings 1993., Eighth Annual
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-0983-9
DOI :
10.1109/APEC.1993.290611
