Title :
Digital signal processing for trajectory control of a multi-axis robot with electrical servo drives
Author :
Leonhard, Werner
Author_Institution :
Tech. Univ., Braunschweig, West Germany
Abstract :
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
Keywords :
computerised control; computerised signal processing; electric drives; machine control; microcomputer applications; position control; robots; servomotors; accuracy; digital signal processing; modulator microcomputer; multiaxis robots; position control; response; servomotor drives; trajectory control; Digital signal processing; Microelectronics; Mobile robots; Operational amplifiers; Process control; Rotors; Servomechanisms; Signal processing; Synchronous motors; Torque;
Conference_Titel :
Industrial Electronics Society, 1989. IECON '89., 15th Annual Conference of IEEE
Conference_Location :
Philadelphia, PA
DOI :
10.1109/IECON.1989.69657
