Ersü, Enis ; Rathgeber, K. ; Schnell, Michael ; Neddermeyer, Werner (2023)
A Robot Arithmetic Processor Concept for Cartesian Closed-Loop Control with Prescribed Dynamics.
In: IFAC Proceedings Volumes, 1985, 18 (16)
doi: 10.26083/tuprints-00023396
Article, Secondary publication, Publisher's Version
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| Item Type: | Article |
|---|---|
| Type of entry: | Secondary publication |
| Title: | A Robot Arithmetic Processor Concept for Cartesian Closed-Loop Control with Prescribed Dynamics |
| Language: | English |
| Date: | 2023 |
| Place of Publication: | Darmstadt |
| Year of primary publication: | 1985 |
| Publisher: | IFAC - International Federation of Automatic Control |
| Journal or Publication Title: | IFAC Proceedings Volumes |
| Volume of the journal: | 18 |
| Issue Number: | 16 |
| DOI: | 10.26083/tuprints-00023396 |
| Corresponding Links: | |
| Origin: | Secondary publication service |
| Abstract: | The hardware implementation of a cartesian closed-loop control scheme will be presented which allows to define the dynamic behaviour of each degree of freedom of the cartesian coordinate system in a prescribed sense. The control system at joint level is designed by multivariate design methods with an additional feedforward component using the concept of inverse dynamics. To achieve high accuracy for cartesian motions quasi-continuous control mode with cartesian sampling periods of not greater than 5 ms is aimed at. A special purpose processor for calculation of kinematic and dynamic terns is designed and integrated into a multiprocessor architecture. This implementation concept with Robot Arithmetic Processor provides the necessary computational power and allows real-time cartesian closed-loop control which is also essential for cartesian sensory control tasks. |
| Uncontrolled Keywords: | Robots, cartesian robot control, special purpose processors, force control, closed-loop systems, real-tine control, multivariable control systems, control system synthesis |
| Status: | Publisher's Version |
| URN: | urn:nbn:de:tuda-tuprints-233969 |
| Additional Information: | Zugl. Konferenzveröffentlichung: 1st IFAC Symposium on Robot Control (SYROCO '85), 06.-08.11.1985, Barcelona, Spain |
| Classification DDC: | 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering |
| Divisions: | 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Intelligent Systems |
| Date Deposited: | 28 Apr 2023 08:20 |
| Last Modified: | 06 Jul 2023 11:43 |
| URI: | https://tuprints.ulb.tu-darmstadt.de/id/eprint/23396 |
| PPN: | 509305806 |
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