Implementation of a DSP-based, acceleration feedback robot controller: practical issues and design limits

Author

Moatemri, Moncef H. ; Schmidt, Peter B. ; Lorenz, Robert D.

Author_Institution

Dept. of Electr. & Comput. Eng., Wisconsin Univ., Madison, WI, USA

fYear

1991

fDate

Sept. 28 1991-Oct. 4 1991

Firstpage

1425

Abstract

The authors present the practical issues and design limits found by rigorous implementation of acceleration feedback in a DSP (digital signal processor)-based controller for a 5-axis industrial robot. They identify and quantify the effects of the feedback transducer and their interfaces in implementing acceleration feedback as part of a digital motion controller. Extensive experimental results document the performance issues which are fundamental to proper application of acceleration feedback in robot motion control.<>

Keywords

acceleration control; computerised signal processing; control system synthesis; digital control; feedback; industrial robots; position control; DSP; acceleration control; control system synthesis; controller; design; digital control; digital signal processor; feedback; industrial robot; interfaces; motion control; performance; position control; transducer; Acceleration; Digital control; Digital signal processing; Feedback; Industrial control; Motion control; Process control; Service robots; Signal design; Signal processing;

fLanguage

English

Publisher

ieee

Conference_Titel

Industry Applications Society Annual Meeting, 1991., Conference Record of the 1991 IEEE

Conference_Location

Dearborn, MI, USA

Print_ISBN

0-7803-0453-5

Type

conf

DOI

10.1109/IAS.1991.178047

Filename

178047