Motion Control Firmware for High-Speed Robotic Systems
Chang, T.N.
Biao Cheng
Sriwilaijaroen, P.
Dept. of Electr. & Comput. Eng., New Jersey Inst. of Technol., Newark, NJ;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Oct. 2006
Volume: 53,
Issue: 5
On page(s): 1713-1722
ISSN: 0278-0046
INSPEC Accession Number: 9167400
Digital Object Identifier: 10.1109/TIE.2006.881957
Current Version Published: 2006-10-02
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
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