DEVICE OF PULSE COMMAND GENERATION FOR POSITION REFERENCE AND SENSOR DATA ACQUISTION OF HUMAN RIDING ROBOT'S JOINT ACTUATOR AND ITS CONTROL DEVICE AND METHOD THEREOF

摘要

Device for sensor information acquisition and pulse command generation producing the location order of the human on board type robot knuckle driver, and the control device and method using the same are provided that the rotation angle and angular velocity of AC motor in a plurality of joint driving parts are controlled. A device for sensor information acquisition and pulse command generation producing the location order of the human on board type robot knuckle driver comprises a sensor information acquisition part receiving the detection signal of the sensor(400) through the CAN(Controller Area Network) communication, a PCI(Programmable Communication Interface) interface unit(120) delivering the detected signal to a master controller(200) of robot, a digital signal processor for controlling the pulse number generated for a certain time, a motor connector(160) for transmitting the motor control signal with the motor controller(300).