ME5286CourseNotes05-09 - For the Puma 560, t solve = 0.028...

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SOLUTION EVALUATION To avoid exciting manipulators at their resonant frequency, want F solution > 10 F resonance where F solution is the frequency at which the solution is computed. Each solution results in a change in acceleration Impulse loading For servo stability, want faster sampling rate and shorter control loop computation time Use interpolation between solutions to drive the control loops. Interpolation equivalent to constant velocity between solutions. EXAMPLE:
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Unformatted text preview: For the Puma 560, t solve = 0.028 sec.  F solution = 35.7 Hz Interpolation: 32 times per solution t interpolation = 0.000875 sec. For more info on the Puma Controller, see report: “The Unimation Puma Servo System” which can be found on the class web site. Other references can be found at http://citeseer.ist.psu.edu/432983.html. Puma 550/560 Troubleshooting Aids For more on the author, see http://www.ict.csiro.au/staff/Peter.Corke/...
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This note was uploaded on 11/25/2009 for the course MECH 371 taught by Professor Craig during the Spring '09 term at Hong Kong Institute of Vocational Education.

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ME5286CourseNotes05-09 - For the Puma 560, t solve = 0.028...

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