A FULL DIGITAL CONTINUOUS PATH SERVO CONTROL SYSTEM FOR D.C MOTOR-DRIVEN ROBOT MANIPULATORS

We developed a full digital continuous path servo control system for D.C.motor-driven robot manipulators in our lab.The experiment of the control system has been done satisfactorily on controlling the first three joints of the educational robot RHINO.This paper introduces the constructions of thesystem’s hardware and software,and the procedure of working.The paper also gives out the result of experiment and discusses some questions which should be considered when digitizing a control system.