By Topic

Application of a floating point digital signal processor to the control of a laser tracking system

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
H. Gander ; Inst. of Flexible Autom., Wien Univ. of Technol., Austria ; M. Vincze ; J. P. Prenninger

Laser tracking systems represent the most promising technique for dynamic position measurement of industrial robots. The Institute of Flexible Automation at the Vienna University of Technology a new tracking algorithm has been developed. It is shown that using the knowledge of the actual position of the robot, a considerable improvement in tracking behavior is possible. A signal processor-based hardware system is used for the computation of the tracking algorithm and the position of the robot's end effector. Additionally, systematic errors that arise from unavoidable errors in the adjustment of mechanical parts, from errors of the sensors, and from dynamic errors can be compensated in real time. The application of a floating-point digital signal processor has made the proposed approach feasible. The features of the digital signal processor are exploited by an optimized software written in assembly code

Published in:

IEEE Transactions on Control Systems Technology  (Volume:2 ,  Issue: 4 )