This paper presents an overview of programming methods for selected position control systems available on the market. It identifies a system that enables the construction of embedded applications, provides the ability to modify controller operation, and presents potential points for modification. The principle of admittance control is described, and a method for implementing this type of control in the NextMove ESB controller is proposed.Currently available position control systems, primarily used in technological machines and industrial robots, provide advanced functions for controlling the position of the working unit. One direction in the development of position control concerns the ability to program complex motion profiles (spline interpolation, Bezier curves), an increasing number of supported (interpolated) axes, and an increase in the accuracy of executing the programmed trajectory. (…)
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Source: Logistyka Magazine
Concept of a position-force control system using the NextMove controller – PDF file for download