Motion Control Firmware for High-Speed Robotic Systems
Chang, T.N.; Biao Cheng; Sriwilaijaroen, P.
Industrial Electronics, IEEE Transactions on
Volume 53, Issue 5, Oct. 2006 Page(s):1713 - 1722
Digital Object Identifier   10.1109/TIE.2006.881957
Summary: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

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