Iterative learning Control of Trajectory Tracking of Robot Manipulator Based the SoC Platform Integrated Motor Drive and Motion Control
Iterative learning Control of Trajectory Tracking of Robot Manipulator Based the SoC Platform Integrated Motor Drive and Motion Control
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- Author(s): Y. Sun 1 ; M. Yang 1 ; Y. Chen 1 ; Q. Ni 1 ; D. Xu 1
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View affiliations
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Affiliations:
1:
State Key Laboratory of Robotics and System Harbin Institute of Technology , Harbin , China
Source:
The 10th International Conference on Power Electronics, Machines and Drives (PEMD 2020),
2021
p.
1019 – 1023
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Affiliations:
1:
State Key Laboratory of Robotics and System Harbin Institute of Technology , Harbin , China
- Conference: The 10th International Conference on Power Electronics, Machines and Drives (PEMD 2020)
- DOI: 10.1049/icp.2021.1191
- ISBN: 978-1-83953-542-0
- Location: Online Conference
- Conference date: 15-17 December 2020
- Format: PDF
With the development of SoC technology, the integration of FPGA+ARM has become the development direction of SoC. For the characteristics of integrated multi-axis motion control and motor drive, this paper selects Xilinx ZYNQ-7020 System-onchip (SOC) with integrated dual-core ARM CPU and FPGA as the hardware platform control chip, an arm core motor drive algorithm. Another ARM core completes the interactive function and motion control, and the FPGA to complete the multi-axis hardware current loop and improve the system bandwidth. The iterative learning control (ILC) technology is widely used in robots to reduce the trajectory error of robots performing repetitive tasks. Using P-type iterative learning ILC combined with feedback control , which can compensate for nonrepeating disturbance. Finally, analysis of experimental results shows that iterative learning control combined with feedback control can significantly improve tracking accuracy.
Inspec keywords: feedback; machine control; system-on-chip; motion control; control engineering computing; manipulators; iterative methods; iterative learning control; tracking; field programmable gate arrays; motor drives
Subjects: Interpolation and function approximation (numerical analysis); System-on-chip; Logic and switching circuits; Self-adjusting control systems; Electric actuators and final control equipment; Logic circuits; Spatial variables control; Manipulators; System-on-chip; Interpolation and function approximation (numerical analysis); Small and special purpose electric machines; Drives; Control of electric power systems; Control engineering computing