Cascaded Robot Joint Control
Vinzenz Bargsten
In Proceedings of the RIC Project Day "Framework & Standardization" and "Manipulation & Control", 19.6.2014, Selbstverlag, Bremen, series DFKI Documents, volume 14-03 , number 14-03, pages 103-117, Jun/2014. DFKI GmbH. ISBN: ISSN 0946-0098.
Abstract
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High-Level robot control algorithms rely on the low-level control of robotic joints. This talk presents a FPGA-based, cascaded control approach for robotic joints. The approach allows to deal with different control objectives and joint limits.