Conference Proceeding

Reduced cable smart motors communicating over the DC power bus-line for high degree of freedom systems

12/2003; DOI:10.1109/IROS.2003.1248942 pp.1987 - 1991 vol.2 In proceeding of: Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on, Volume: 2
Source: IEEE Xplore

ABSTRACT A system of networked smart motors is developed to reduce complex cable harnesses. Motor control signals are sent over the DC power bus line and receiver by motors with integrated power amplifiers and controller. Unlike traditional AC power line communication, the noise level and signal attenuation are much lower for the DC power bus communication. This allows for high fidelity, broadband communication among many smart motors without bulky, costly cables. A modem is designed to exploit the features of the DC power bus communication. Experimentation is done to verify that the DC bus line is indeed useful for communication. An experimental setup was developed to identify the noise spectrum and signal transmissibility of the consolidated power-signal line. Optimal carrier frequency and filter parameters are then obtained based on the experiments.

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Keywords

broadband communication
 
complex cable harnesses
 
consolidated power-signal line
 
costly cables
 
DC bus line
 
DC power bus communication
 
DC power bus line
 
experimental setup
 
fidelity
 
filter parameters
 
lower
 
networked smart motors
 
noise level
 
noise spectrum
 
Optimal carrier frequency
 
smart motors
 
traditional AC power line communication