{"title":"一种基于dsp的加速度反馈机器人控制器的实现:实际问题和设计限制","authors":"M.H. Moatemri, P. Schmidt, R. Lorenz","doi":"10.1109/IAS.1991.178047","DOIUrl":null,"url":null,"abstract":"The authors present the practical issues and design limits found by rigorous implementation of acceleration feedback in a DSP (digital signal processor)-based controller for a 5-axis industrial robot. They identify and quantify the effects of the feedback transducer and their interfaces in implementing acceleration feedback as part of a digital motion controller. Extensive experimental results document the performance issues which are fundamental to proper application of acceleration feedback in robot motion control.<<ETX>>","PeriodicalId":294244,"journal":{"name":"Conference Record of the 1991 IEEE Industry Applications Society Annual Meeting","volume":"136 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1991-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"23","resultStr":"{\"title\":\"Implementation of a DSP-based, acceleration feedback robot controller: practical issues and design limits\",\"authors\":\"M.H. Moatemri, P. Schmidt, R. Lorenz\",\"doi\":\"10.1109/IAS.1991.178047\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The authors present the practical issues and design limits found by rigorous implementation of acceleration feedback in a DSP (digital signal processor)-based controller for a 5-axis industrial robot. They identify and quantify the effects of the feedback transducer and their interfaces in implementing acceleration feedback as part of a digital motion controller. Extensive experimental results document the performance issues which are fundamental to proper application of acceleration feedback in robot motion control.<<ETX>>\",\"PeriodicalId\":294244,\"journal\":{\"name\":\"Conference Record of the 1991 IEEE Industry Applications Society Annual Meeting\",\"volume\":\"136 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1991-09-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"23\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Conference Record of the 1991 IEEE Industry Applications Society Annual Meeting\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IAS.1991.178047\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Conference Record of the 1991 IEEE Industry Applications Society Annual Meeting","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IAS.1991.178047","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Implementation of a DSP-based, acceleration feedback robot controller: practical issues and design limits
The authors present the practical issues and design limits found by rigorous implementation of acceleration feedback in a DSP (digital signal processor)-based controller for a 5-axis industrial robot. They identify and quantify the effects of the feedback transducer and their interfaces in implementing acceleration feedback as part of a digital motion controller. Extensive experimental results document the performance issues which are fundamental to proper application of acceleration feedback in robot motion control.<>
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