Implementation of a DSP-based, acceleration feedback robot controller: practical issues and design limits

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 xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>