Motion control firmware for high speed robotic systems

摘要

This paper addresses the hardware and software platforms of high-speed robot control systems, which are usually integrated with multi-modal sensing, multi-axis motion, and complex algorithmic capabilities. In this work, robot control is considered from software development cycles to actual applications. Cross platform and upward compatible software development is addressed. Finally, an example application of real time slewing control of a high-speed industrial robot is provided.