Digital signal processing for trajectory control of a multi-axis robot with electrical servo drives

General problems of robot control and signal processing are reviewed. The control of multiaxis robots which combine the need for high accuracy with great complexity and speed of response while being within reach of a university laboratory is considered as an example. It is shown what the requirements are and how they can be met with a combination of today's microelectronic components in the form of a modulator microcomputer system.<>