Motion control firmware for high-speed robotic systems

Document Type

Article

Publication Date

10-1-2006

Abstract

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. © 2006 IEEE.

Identifier

33750132889 (Scopus)

Publication Title

IEEE Transactions on Industrial Electronics

External Full Text Location

https://doi.org/10.1109/TIE.2006.881957

ISSN

02780046

First Page

1713

Last Page

1722

Issue

5

Volume

53

Grant

70NANB5H1092

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