The paper presents the implementation of admittance control based on a motion controller performing position control. A test stand was built consisting of: a multi-axis NextMove ESB motion controller, an ADS 50/5 servo amplifier, a 403A403 DC motor with an encoder, and a DR 120/24 power supply. Using the motion function libraries provided by the controller manufacturer and a C language compiler, a program was developed to replace selected functions of the original NextMove controller firmware. This program implements an admittance controller algorithm.The algorithm determines position setpoints for the position-controlled drive based on the set and actual values of the interaction torque with the environment. To determine the magnitude of the interaction with the environment, motor current measurement performed by the servo amplifier was used. The software operation was tested on the constructed stand, and the obtained results are presented.
IMPLEMENTATION OF ADMITTANCE CONTROL IN NEXTMOVE MOTION CONTROLLER
Abstract
Implementation of admittance control in motion controller designed for position control is presented in the paper.
The test stand which consists of: a multi-axis motion controller NextMove ESB, a servoamplifier ADS 50/5, a DC motor
403A403 with encoder and a power source DR 120/24 is built. With the use of provided by controller manufacturer library of motion functions and a C language compiler control software is worked out. It replaces some functions of original firmware of NextMove controller. The software implements an algorithm of admittance controller. The algorithm calculates set position values for position controlled drive on the basis of set and actual values of torque of interaction with environment. To calculate actual value of torque of interaction with environment, functionality of motor current measurement provided by servoamplifier is used. The control software operation is tested on the test stand and results are presented. (…)
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Source: Logistyka Magazine 6/2011
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