Power Supply Overlaid Communication with Common Clock Delivery for Cooperative Motion Control

Fumikazu MINAMIYAMA  Hidetsugu KOGA  Kentaro KOBAYASHI  Masaaki KATAYAMA  

IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E94-A   No.12   pp.2773-2775
Publication Date: 2011/12/01
Online ISSN: 1745-1337
DOI: 10.1587/transfun.E94.A.2773
Print ISSN: 0916-8508
Type of Manuscript: Special Section LETTER (Special Section on Wideband Systems)
motion control,  synchronous motion,  power line communication (PLC),  common clock delivery,  

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For the control of multiple servomotors in a humanoid robots, a communication system is proposed. In the system, DC electric power, command/response signals and a common clock signal for precise synchronous movement of the servomotors are transmitted via the same wiring with a multi-drop bus. Because of the bandwidth limitation, the common clock signal and the command/response signals overlap each other. It is confirmed that the coexistence of both signals is possible by using interference cancellation at the reception of command/response signals.