08-16-2017, 10:17 PM
Abstract
For numerous motion control applications, the limiting factor in the design of the motion device is a highly accurate and quick response. To achieve these performance characteristics, two approaches to the design are possible. The first focuses on the physical construction of the motion device, which includes increasing the mass and thus the rigidity of the system, as well as employing high-precision components. The second procedure addresses the software required to operate and control the system. By combining several advanced control algorithms in software, superior motion characteristics can be obtained while using a robotic device of limited precision and low weight. Current industrial implementations tend to favor the former procedure. This paper will discuss a novel approach using a software-based design in conjunction flexible robots to obtain favorable motion characteristics. The software architecture is user-friendly and is applicable to multiple classes of robotic systems.