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Guide to choosing the sampling rate in computerised controllers

Guide to choosing the sampling rate in computerised controllers

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A criterion useful for choosing the sampling rate of computerised controllers is given in the letter. The proposed rule is applied to usual electric and hydraulic robot controllers.

References

    1. 1)
      • Killough, S., Martin, H., Hamel, R.: `Conversion of servomanipulator from analog to digital control', IEEE conf. on robotics and automation, April 1986, p. 734–739.
    2. 2)
      • C. Vibet . (1987) , Cinématique dynamique et contrôle des robots.
    3. 3)
      • Madwed, A.: `Numerical analysis by the number series transformation method', Symp. on nonlinear circuit analysis, April 1953, Brooklyn, p. 320–368.
    4. 4)
      • Kanada, T., Schmitz, D.: `Development of CMU direct drive arm ', CMU-R1-85-5, Tech. rep., March 1985.
    5. 5)
      • G. Mansfield , C. Vibet . (1985) , Synthèse des actionneurs hydrauliques. Point en robotique.
    6. 6)
      • Nevins, J.: `A scientific approach to the design of computer controlled manipulators', Report R-837, August 1974.
    7. 7)
      • Khosla, P.: `Choosing sampling rates for robot control', IEEE conf. on robotics and automation, 1987, p. 169–174.
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