Module 9
: Robot Dynamics & controls
Lecture 32
: General procedure for dynamics equation forming and introduction to control
Computer as controller:
Figure 32.9
Block Diagram
Microcontroller as controller
:
Figure 32.10
Block Diagram
Issues in digital Control implementation:
Sampling time
: Sampling time should be such that there should not be any kind of distortion of information carried by signal.
Effect on system due to sampling
.
Filters
: necessary for different computations ex. Derivative computation of PD control.
Speed of computation
: Whatever processor we are using it should compute as per control law in given sapling time.
Speed of A/D and D/A conversion.
Number of sensors and actuators
.
Noise
coming from various sources.
Cost
: Being important it should be considered alongwith performance.
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