Hi DT support,
I am trying to set up a feedforward torque control delta robot. The inverse dynamics has been calculated and I plan to upload a list of compensating torque to the 3 motors used to actuate the manipulator.
Currently, a PMAC card
(VERSION: 1.17C ;TYPE: PMAC1, ISA/VME, FLASH, PID, CLK X2)
is used control the robot through the on board position servo loop. I hope to reduce following errors by introducing this compensating torque.
I wonder if it is possible to use virtual motors to update the torque compensating tables of the real motors for every servo cycle? I hope to map the 'commanded position' of the virtual motors (really the calculated torque) to the torque compensation tables or the real motors.
Would a PLC program be sufficient to do this?
Ideally, I hope to implement a motion program script which would look something like this:
%%%%%%%%%%%%%%%%%%%%%%%%
SPLINE1 TA50
X45 Y45 Z45 A(torquetermX) B(torquetermY) C(torquetermZ)
...
%%%%%%%%%%%%%%%%%%%%%%%%
or
%%%%%%%%%%%%%%%%%%%%%%%%
PVT 50
X45:00 Y45:00 Z45:00 A(TorqueX:TorqueX') B(TorqueY:TorqueY') C(TorqueZ:TorqueZ')
....
%%%%%%%%%%%%%%%%%%%%%%%%
where X,Y,Z are the real motor angles and A,B,C are the virtual coordinate systems.
Thanks in advance!
