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  4. Profibus PC based motion control with application to a new 5 axes parallel kinematics
 
conference paper

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

Pham, Patric
•
Bouri, Mohamed  
•
Thurneysen, Markus
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2004
35th ISR Proceedings
International Symposium on Robotics

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.

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