Distributed Digital Control of a Robot Arm
نویسندگان
چکیده
Most robot arms use a central control box that contains the power electronics, .. the motor controllers and the coordinating computer. This paper presents a distributed control network that allows the power electronics and motor controllers to be placed adjacent to the motors. Each controller uses a DSP for all motor control w~th the individual controllers communicating wIth each other and a host computer using a Controller Area Network (CAN). The design eliminates the bulky multi-core cable that is a major source of downtime for robots such as the PUMA 560, while improving controller bandwidth and facilitating greater software control ofmotor response.
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