An Algorithm of Motor Control by Software Servo System (2nd Report)

Application to 4-Axes SCARA ROBOT

Abstract

In the previous report, an algorithm to control the motor motion curve with software servo system was proposed. By the algorithm, any motion curve, such as produced with cam curves, was realized. It was applied practically to 1 axis DD motor indexing table, and some experimental results were reported. In this report the motion control algorithm is applied to 4-axes SCARA type robot control with software servo system, in PTP (point to point) and CP (continuous path) control mode. The software servo system has become main control system in robot servo motor system. To apply the algorithm to motor control in software servo system, any motion curve in multi axes robot is realized. Some experimental results, such as control accuracy in PTP motion and in CP motion measured in 4-axes SCARA type robot are reported, and by the experimental results, the algorithm is proven to be well applied to multi-axes industrial robot control with software servo system.