Application of a floating point digital signal processor to a dynamic robot measurement system

Abstract

The development of floating point digital signal processors (DSP) has led to a significant improvement in digital signal processing. This paper presents the application of a floating point DSP to the real time data processing and control of a dynamic robot measurement system, which is based on a single laser beam that is deflected over a mirror mounted to a beam steering mechanism. The specifications with regard to high accuracy of the measurement system and the cycle time for the numerous calculations that are performed to acquire the desired measurement data are reached with dedicated data acquisition modules that are connected via a 32 bits bus to a DSP. This configuration allows measurements with more than 10 kHz sampling rare and the execution of a sophisticated prediction control algorithm at the same rate.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>