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Setting up feedforward torque to servo loop via virtual motors
Hi DT support,

I am trying to set up a feedforward torque control delta robot. The inverse dynamics has been calculated and I plan to upload a list of compensating torque to the 3 motors used to actuate the manipulator.

Currently, a PMAC card
is used control the robot through the on board position servo loop. I hope to reduce following errors by introducing this compensating torque.

I wonder if it is possible to use virtual motors to update the torque compensating tables of the real motors for every servo cycle? I hope to map the 'commanded position' of the virtual motors (really the calculated torque) to the torque compensation tables or the real motors.

Would a PLC program be sufficient to do this?

Ideally, I hope to implement a motion program script which would look something like this:

X45 Y45 Z45 A(torquetermX) B(torquetermY) C(torquetermZ)
PVT 50
X45:00 Y45:00 Z45:00 A(TorqueX:TorqueX') B(TorqueY:TorqueY') C(TorqueZ:TorqueZ')

where X,Y,Z are the real motor angles and A,B,C are the virtual coordinate systems.

Thanks in advance!

Messages In This Thread
Setting up feedforward torque to servo loop via virtual motors - lanenwie - 09-14-2014, 01:27 AM

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