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JRM Vol.6 No.2 pp. 155-161
doi: 10.20965/jrm.1994.p0155
(1994)

Paper:

Development of a Digitally-Controlled Servo Amplifier for Robots

Yuji Shindo and Takao Wada

Akashi Works, Kawasaki Heavy Industries, Ltd., 1-1 Kawasaki-cho, Akashi, Hyogo, 673 Japan

Received:
December 20, 1993
Accepted:
December 25, 1993
Published:
April 20, 1994
Keywords:
Servo, Robot, Digita1, PWM, Motor
Abstract

Kawasaki Heavy Industries, Ltd. has developed a digitally-controlled servo amplifier for robot servo motors. The motor’s armature current, position and velocity are controlled by the software in a digital signal processor. The servo is designed for high reliability, performance, flexibility and compactness. To achieve these objectives, we developed an ASIC which controls PWM signals for power transistors and encoder signals. The servo amplifier is currently used in the new Kawasaki AD series of robot controllers.

Cite this article as:
Y. Shindo and T. Wada, “Development of a Digitally-Controlled Servo Amplifier for Robots,” J. Robot. Mechatron., Vol.6, No.2, pp. 155-161, 1994.
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