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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, 1993Accepted:December 25, 1993Published: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.Data files:
