Flexible servo control of a fully electric-driven wheeled mobile robot for highway maintenance automation

Daehie Hong, Kazuo Yamazaki, Steven A. Velinsky

Research output: Contribution to conferencePaperpeer-review

1 Citation (Scopus)

Abstract

For highly flexible and transparent electric actuator control, a fully-software-definable controller for various types of servo motors has been previously proposed and developed (Yamazaki, et al., 1988). The flexible architecture of that controller was designed such that the control of the three typical types of motors, DC, Brushless DC, and induction motors, can be freely configured and implemented on any hardware by a mere software modification. In order to achieve higher performance and reliability and also to make the system compact, the ASIC (Application Specific Integrated Circuit) technology was fully utilized and one chip servo controller logic was developed. The developed servo control system was referred to as 'Flexible Servo Motor Control' (FSC). Because of its flexibility and adaptability for distributed actuator control, in this paper, the FSC is applied to the control of an electric powered wheeled mobile robot for highway maintenance operations. The prototype system has shown excellent performance for the intended application.

Original languageEnglish
Pages1495-1500
Number of pages6
Publication statusPublished - 1994
Externally publishedYes
EventProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) - Bologna, Italy
Duration: 1994 Sep 51994 Sep 9

Other

OtherProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3)
CityBologna, Italy
Period94/9/594/9/9

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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