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We must decide on the required frequency of the system. In this system we have
four frequencies to be considered:
- Input frequency, which represents the frequency of changes to the manipulator
status (position, velocity, and acceleration).
- Update frequency, representing the speed of calculations involved.
- Sensing frequency, which depends on the A/D converters that feed the control
system with the actual positions and velocities of the manipulator
links.
- Noise frequency: since we are dealing with a real-time control
system, we must consider different types of noise affecting the
system such as: input noise, system noise, and output noise (from the
sensors).
Matanya Elchanani
Wed Dec 18 17:00:21 EST 1996