From: Ryan R. <rjr...@uc...> - 2006-07-12 20:19:47
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From a controls perspective I'd suggest doing this as a multiloop system, with the gumstix handling all the position/velocity control at maybe 100Hz, with the control machine sending commands over at 10-20Hz. Realize that at 10-20 Hz sampling, your closed loop bandwidth will be 1-2Hz, with anything over that getting jerky and potentially unstable. By bumping the gumstix freq up you smooth the response and improve your stability. This is the way machine tools are operated, to the point that some motors have intgrated postion/velocity controllers. Ryan |