DESIGN OF ROBOT JOINT SERVO DEVELOPMENT SYSTEM.

Chi haur Wu*, Paul N. Koch

*Corresponding author for this work

Research output: Contribution to journalConference article

3 Scopus citations

Abstract

The performance of an industrial robot depends heavily on the performance of its joint servo. In order to design a better robot joint servo system, the performance of the system needs to be monitored in a real-time environment so that the servo parameters can be adjusted to achieve the optimum performance. Therefore, a robot joint servo development system with real-time monitoring capability is needed. The design of a robot servo development system is reported. It is based on a microprocessor with architecture optimized for high-speed numeric computations, the Texas Instruments TMS320. Using the designed system, the parameters for the servo system can be optimized by monitoring the servo performance.

Original languageEnglish (US)
Pages (from-to)344-349
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
DOIs
StatePublished - 1985

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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