HCTL-2020 decoder and DSP based quadratic signal detection and motion control in multi-joint robot

被引：0

作者：

Tian, XC ^{[1
]}

Liu, HY ^{[1
]}

Yu, JP ^{[1
]}

Peng, B ^{[1
]}

机构：

[1] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China

来源：

ISTM/2005: 6th International Symposium on Test and Measurement, Vols 1-9, Conference Proceedings | 2005年

关键词：

quadratic signal; decoder; multi-joint robot;

D O I：

暂无

中图分类号：

TH7 [仪器、仪表];

学科分类号：

0804 ; 080401 ; 081102 ;

摘要：

Expanding encoder position-detecting channels is frequently a problem in multi-axis control system development. This paper describes the principle of HCTL-2020 decoder in details, designs the interfacing circuit between HCTL-2020 decoder and microprocessor DSP-TMS320LF2407A and that between DSP and the servo driver, and introduces their application in the control system of multiple-joint robot. With a 16-bit internal hardware counter, the decoder is feasible for interfacing encoder and CPU in the development of multi-axis closed-loop motion control system, the CPU and HCTL-2020 decoder can work parallel.

引用

页码：7350 / 7352

页数：3