The Descentralised Control of an Articulated Arm Robot

Abstract

Due to the quick evolution of manufacturing processes, the demand for more flexible automation systems is on the rise. To answer these requirements, distributed motion control architecture based on intelligent drives tends more and more to replace the traditional solutions. This paper presents a local intelligent drive that controls the position of an articulated arm robot. The driver receives the spatial coordinates of the gripper, via a CAN network, and synchronizes the motors to move the arm to the desired position.