Het Ontwerpen en Realiseren van een Robotbesturing (Design and Implementation of a Robot Controller)

摘要

A controller for an ASEA Ir6-6/2 robot was designed and partially realized. The controller is structured in a hierarchical, modular way. The robot programming system and the set-point generator were implemented on an HP9920 microcomputer. The axis controllers, implemented on 8085 processor cards, consist of an axis position initiation procedure, an interpolator, and a digital controller. The servosystem consists of digital-to-analog converters, linear servoamplifiers, actuators (dc motors), and resolvers and converters providing a digital position signal which can be fed back to the digital controller. The axis velocity and position are controlled by two cascaded proportional-integrating-differentiating controllers. The velocity feedback signal is filtered to increase the controller stability. The optimization of the axis controller using a performance criterion is described.