In this paper a microprocessor-based industrial robot system is described with special emphasis on the control portion of the system.
The thyristor phase controlled dual converter is designed as a power amplifier for the DC servo motor which drives the manipulatory part of the robot system. With this power amplifier the operation of the motor on the 4-quadrant V-I plane is possible.
The current feedback loop, a minor loop of the velocity control system, is designed to limit the steady state amature current value below a certain level. An advanced concept in this minor loop design is suggested and with this concept a simple and straightforward design method is developed.
The position control unit is implemented by software program to decrease the hardware complexity and give much flexibility for position controller design.
With a good care of noise problems in hardware implementation of the servo system the overall robot system operation is accomplished.
