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A Robot Arithmetic Processor Concept for Cartesian Closed-Loop Control with Prescribed Dynamics

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

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.

Item Type: Article
Erschienen: 2023
Creators: Ersü, Enis ; Rathgeber, K. ; Schnell, Michael ; Neddermeyer, Werner
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
URL / URN: https://tuprints.ulb.tu-darmstadt.de/23396
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
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik
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: 03 May 2023 10:07
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