21
February
Biopsy Automation PT4: Motor Control – Clark and Park transformations
INTRODUCTION
This is the fourth article of a series, which aim is a feasibility study for a modular system for biopsy. In this article, we will focus on the common transformations for motor control: Clark and Park. This system is composed of the main control board based on Xilinx ZYNQ Ultrascale+ and servo satellite motor drives based on Xilinx ZYNQ-7000. Accordingly, the objective of the system is to control a robot composed of multiple joints.
So, you can execute the biopsy by driving one mechanical positioner composed of 6 PMSM motors and