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
Artikel, Zweitveröffentlichung, Verlagsversion
Kurzbeschreibung (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.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2023 |
| Autor(en): | Ersü, Enis ; Rathgeber, K. ; Schnell, Michael ; Neddermeyer, Werner |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | A Robot Arithmetic Processor Concept for Cartesian Closed-Loop Control with Prescribed Dynamics |
| Sprache: | Englisch |
| Publikationsjahr: | 2023 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 1985 |
| Verlag: | IFAC - International Federation of Automatic Control |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | IFAC Proceedings Volumes |
| Jahrgang/Volume einer Zeitschrift: | 18 |
| (Heft-)Nummer: | 16 |
| DOI: | 10.26083/tuprints-00023396 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/23396 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichungsservice |
| Kurzbeschreibung (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. |
| Freie Schlagworte: | Robots, cartesian robot control, special purpose processors, force control, closed-loop systems, real-tine control, multivariable control systems, control system synthesis |
| Status: | Verlagsversion |
| URN: | urn:nbn:de:tuda-tuprints-233969 |
| Zusätzliche Informationen: | Zugl. Konferenzveröffentlichung: 1st IFAC Symposium on Robot Control (SYROCO '85), 06.-08.11.1985, Barcelona, Spain |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Intelligente Systeme |
| Hinterlegungsdatum: | 28 Apr 2023 08:20 |
| Letzte Änderung: | 03 Mai 2023 10:07 |
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