Control Architectures

Question 1

Explain the decentralised control scheme

Answer 1

Each manipulator is controlled indvidually
-a two level hierachy is used
-a master CPU is used to generate tracjectories and inverse kinematics

Question 2

Explain the joint-control system

Answer 2

-the joint-controller ensures joints follow position commands
-the encoder provids position feedback

Question 3

what is the most common technique of sensing angle of a motor?

Answer 3

Incremental encoder which is fitted to one end of the motor
-it detects rotational velocity

Question 4

Explain the centralised architecture

Answer 4

Centralised systems have one controller with all the main functions
-the dynamics of each joint affects the other
-inverse kinematics are embedded into control loop