Notice of Violation of IEEE Publication Principles: The Robot Arm Distributed Digital Control Calculation

Notice of Violation of IEEE Publication Principles

"The Robot Arm Distributed Digital Control Calculation"
by Lianzhong Zhang and Wang Li
in the Proceedings of the International Conference on Intelligent Human-Machine Systems and Cybernetics, 2009, pp. 442-445

After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE's Publication Principles.

This paper is a duplication of the original text from the paper cited below. The original text was copied without attribution (including appropriate references to the original author(s) and/or paper title) and without permission.

Due to the nature of this violation, reasonable effort should be made to remove all past references to this paper, and future references should be made to the following article:

"Distributed Digital Control of a Robot Arm"
by Gordon Wyeth, James Kennedy, and Jared Lillywhite
in the Proceedings of the Australian Conference on Robotics and Automation: ACRA 2000, pp. 217-222


Most robot arms use a central control box that contains the power electronics, the motor controllers and the coordinating computer. This paper presents a distributed control network that allows the power electronics and motor controllers to be placed adjacent to the motors. Each controller uses a DSP for all motor control, with the individual controllers communicating with each other and a host computer using a Controller Area Network (CAN). The design eliminates the bulky multi-core cable that is a major source of downtime for robots such as the PUMA 560, while improving controller bandwidth and facilitating greater software control of motor response.