Servo controllers enable snake-arm robots
An
OC Robotics product story
Edited by the Engineeringtalk editorial team
Feb 8, 2005
OCRobotics has developed a range of intelligent CAN-enabled servomotor amplifier controllers to meet requirements for distributed control of the large numbers of motors used in its snake-arm robots.
OCRobotics has developed a range of intelligent CAN-enabled servomotor amplifier controllers to meet requirements for distributed control of the large numbers of motors used within each of its snake-arm robots.
Named DC2, DC3 and DC4, the controllers have been designed for use in space-constrained applications.
DC2 has a circular footprint and is designed to fit neatly in line with a 42mm diameter motor, enabling the closest possible packing of large numbers of motors into the smallest possible space.
DC3 and DC4 have larger rectangular footprints but are designed with very low-profile skylines to minimise the volume they occupy.
The designs are based on DSPs for more demanding applications with servo loop closure rates of up to 2kHz.
Microcontrollers are used for lower cost, less demanding applications with servo loop closure rates of 500Hz.
All the controllers use similar communications protocols, allowing different types of controllers to be used in the same application.
With onboard encoder decoding, the controllers perform position and velocity motion profiling, current-based or voltage-based loop closure, current-monitoring, I2t monitoring, error handling, homing and limit switch monitoring and all the necessary low-level housekeeping without needing to involve a host computer.
Commands, demands and status information are all communicated over a CANbus operating at up to 1Mbit/s.
The amplifiers operate using sign and magnitude PWM for cool operation even with small motors and are rated at up to 50V and 10A making them suited to use with a very wide range of motors.
Brake control is also integrated into the firmware so that when the motor stops the brake (if used) is automatically applied.
The brake control output is controlled using PWM to enable different pull-off and hold-off currents to be set to maximise efficiency and minimise brake heating as well as facilitating brake choice for different applications.
Applications include synchronous control of an OCRobotics snake-arm robot that has 32 motors.
The snake-arm sits on top of a remote vehicle so the size and weight of the system is critical.
One of the most significant advantages of the controllers is the ability to minimise wiring by engineering a totally integrated package.
The firmware can be configured to optimise closed loop performance for different motor and gearbox combinations.
Not what you're looking for? Search the site.
Google Ads
Contact OC Robotics
Related Stories
- Rodriguez releases latest Compacta geared motors
- Geeplus launches smallest voice coil motor
- Frequency inverter range available up to 22kW
- EISA-compliant motors now available in Europe
- Astrosyn develops DC motor for hostile conditions
Articles by product category
- Consultancy and Services (903)
- Machine Building (4,517)
-
Engineering Design Software (6,179)
- Engineering Design Software (12)
- 2D CAD software (200)
- 3D CAD software (1,157)
- FEA and structural analysis software (369)
- Fluid, thermal, noise, vibration software (334)
- Simulation, modelling, validation software (914)
- Rendering, visualisation, styling software (196)
- Materials design and moulding design software (151)
- Process, instrumentation, automation software (258)
- Electrical design software (164)
- Publishing and documentation software (229)
- Maths, charting, statistics, QA software (317)
- Data, document management software (310)
- CAM, CNC, production management software (568)
- File conversion software, data capture (351)
- PLM and collaboration software (649)
-
Drives, Motors and Controls (3,361)
- Drives, Motors and Controls (1)
- Precision Motors and Gears (411)
- Industrial Drives/Controls (1,276)
- Linear Drives and Motors (114)
- Industrial Motors (497)
- Stepper and Servo Drives, Motors, Controls (1,060)
- Small Mechanical Components, Joining, Tools (1,975)
-
Control and Instrumentation (5,028)
- Plantwide control (1,324)
- Plant- and Machine-Wide Communications (1,174)
- Smaller-Sized PLCs (387)
- CNC and Motion Controllers (184)
- Mid-range and Large PLCs (201)
- Power Supplies, Uninterruptible Power (562)
- HMIs/Operator Interfaces (294)
- Logic Controllers, Timers and Relays (96)
- Cabling, Conduit, Signal Conditioning (806)
-
Monitoring, Measurement and Quality (5,459)
- Monitoring, Measurement and Quality (1)
- Data acquisition Software and Communications (494)
- Data Acquisition Hardware and PC I/O Boards (472)
- Electrical and Electronic Testing, PAT Equipment (630)
- Form/co-ordinate, optical, vision instruments (703)
- Gauges, Indicators and Instruments (440)
- Data loggers (422)
- Materials testing equipment (421)
- Telecomms/network test equipment, software etc (154)
- Testing and Calibration Services and Information (500)
- Testing, analysing and monitoring equipment (1,222)
-
Electrical and Electronic Equipment Design (4,160)
- Batteries, chargers and circuit protection (555)
- Connectors, Terminals, Busbars, Slip Rings (679)
- Enclosures and Equipment Cooling Fans (709)
- Knobs, Handles and Enclosure Hardware (420)
- PCs and Embedded Systems (798)
- Electrical and Electronic Subassemblies (369)
- Electrical and Electronic Components (630)
-
Materials and Processing (2,963)
- Materials and Processing (5)
- Materials and components (2,215)
- Rapid Prototyping (458)
- Materials processing and testing (285)
-
Engineering Industry News, Resources (6,093)
- Engineering Industry News, Resources (4)
- Engineering Business News, Views (388)
- Engineering Exhibitions, Events (562)
- Engineering Conferences (425)
- Engineering Seminars (400)
- Engineering Industry Developments, Awards (633)
- Engineering Guides, Newsletters (349)
- Engineering Recruitment, Employment (219)
- Engineering Training Courses (433)
- Engineering Education, Resources, Standards (838)
- Engineering Industry Reports, Surveys (597)
- Electronic Resources for Engineers (278)
- Health and Safety Legislation (402)
- Health and Safety Strategy, Risk Assessment (113)
- Health and Safety Consultancy, Software (175)
- Health and Safety Events, Training, News (277)
-
Powertrain Design (3,598)
- Powertrain Design (2)
- Bearings (939)
- Chains and belts (326)
- Gears, brakes, couplings and engines (1,441)
- Hydraulic Components (471)
- Lubricants (418)
-
Capital Equipment (3,387)
- Capital Equipment (1)
- Manufacturing Machinery and Plant Equipment (468)
- Production line blowers and fans (62)
- Compressors and Air Treatment (510)
- Electronics Manufacturing, Tools, Instruments (192)
- Electrical hardware (131)
- Machinery and Production Equipment (1,093)
- Robotics, Handling and Storage (930)
-
Sensors (7,080)
- Sensors (8)
- Accelerometers and Vibration Sensors (427)
- Loadcells, Force Sensors, Torque Sensors (699)
- Pressure sensors (621)
- Flowmeters and Flow Sensors (618)
- Level Sensors and Leak Detectors (527)
- Linear Position Sensors (399)
- Rotary Position, Tilt and Angular Sensors (546)
- Proximity Sensors (700)
- Gas, Chemical, Radiation, Magnetic Sensors (284)
- Humidity and Environmental Sensors (152)
- Temperature sensors (612)
- Vision and Colour Sensors (1,384)
- Barcode Sensors (103)
- Valves, Pumps, Process Hardware (3,623)
