Abstract
In numerical control system of robots, the generation of path points and inverse kinematics occupy most of computing resources. For applications that require high path update rate, or have to deal with complex trajectory and kinematics, a microprocessor with limited computing power may not be sufficient for the task. This paper proposes a method of interpolating in the joint space using zero-padding FFT algorithm to transfer part of the computation load from central computing unit to digital signal processor, so that the whole computing process can be accelerated. In this paper, an overview of the control system of SCARA is introduced at first, followed by a detailed description of the DFT interpolation theorem. Next, the method of interpolating in the joint space using zero-padding FFT algorithm is proposed. Finally, the SCARA model is applied for experiment to compare the computation time spent with different methods. The result shows that the proposed method can efficiently accelerate the computation if a relatively high path update rate is required.
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Acknowledgments
This work is supported by the Science and Technology Planning Project of Guangdong Province (No. 2017B010117007), the Science and Technology Planning Project of Guangdong Province (No. 2017A070712009), and the Science and Technology Planning Project of Guangdong Province (No. 2017B090910011).
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Luo, F., Liao, W. (2018). DSP Accelerated Interpolation Using Zero-Padding FFT Algorithm for High Speed Numerical Control of Robots. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_19
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DOI: https://doi.org/10.1007/978-3-319-97589-4_19
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