Cascaded Robot Joint Control

Vinzenz Bargsten

DFKI GmbH, DFKI Documents (D), Vol. 14-03 , No. 14-03, ISBN ISSN 0946-0098, Selbstverlag, Bremen, 6/2014.


High-Level robot control algorithms rely on the low-level control of robotic joints. This talk presents a FPGA-based, cascaded control approach for robotic joints. The approach allows to deal with different control objectives and joint limits.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence