The design and development of a control system for a T/sup 3/-776 robot

A robot control system is designed, developed and tested for a six degree-of-freedom (T/sup 3/776) 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.<
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