Robot Control with Wideband Acceleration Control Embedded on Programmable SoC

Hiroki Kurumatani, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

The robot controller using the wideband acceleration controller embedded on a programmable system-on-a-chip (PSoC) is presented. Since the robot controller requires to execute both fast and complex processing, a standalone stored-program machine or a field programmable gate array (FPGA) provide an insufficient platform. The PSoC prepares freedoms for platform design and it enables to overcome existing restrictions. Herewith, appropriate task-partitioning is essential to elicit performance. Concretely, high tracking performance and tolerance are ensured by a fast controller, and dexterity of motion by a generic controller. By checking and examining a control architecture in detail, the preferred task-partition is derived. Eventually, an acceleration controller was implemented on the FPGA and a computing-torque method was on the stored-program machine. For verification, positioning of the robot was conducted and high tracking performance was confirmed.

本文言語English
ホスト出版物のタイトルProceedings
ホスト出版物のサブタイトルIECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
出版社IEEE Computer Society
ページ5338-5343
ページ数6
ISBN(電子版)9781728148786
DOI
出版ステータスPublished - 2019 10
イベント45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 - Lisbon, Portugal
継続期間: 2019 10 142019 10 17

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2019-October

Conference

Conference45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019
CountryPortugal
CityLisbon
Period19/10/1419/10/17

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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