Profibus PC based motion control with application to a new 5 axes parallel kinematics

Generally the classical control architecture used to carry out a robot position control is based on a classical industrial motion planner that needs encoders cabling and analog cabling to insure the regulation loop. This work proposes a Profibus PC based control architecture that has a double-originality. The first originality concerns the hardware architecture and the second concerns the software flexibility that allows easiness in implementation, either modification, for controlling parallel robots. The hardware architecture is based upon so-called “intelligent” digital drives and the whole fieldbus hardware.


Published in:
35th ISR Proceedings
Presented at:
International Symposium on Robotics, Paris, 2005
Year:
2004
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 Record created 2005-12-06, last modified 2018-01-27

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