Knob
Control rate
You might say: loop frequency, servo rate
Control rate is the number of control updates made each second.
- What it does
- It limits reaction speed and the bandwidth that a loop can achieve.
- Ask
- Is the loop fast enough for the dynamics, with enough time left to compute each update?
- Typical
- Modern Robotics gives about 1 kHz for a robot controller; exact rates are drive-dependent.
Pattern
Connections
- See also: Fieldbus
- See also: Onboard computer
Sources
- Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, §11.1 Control System Overview: Representative controller and current-loop rates
At a rate of perhaps a thousand times per second, the controller evaluates a control law and requests joint torques from each motor amplifier.
Use it on your project
teardown-apply: hold "Control rate" (control-rate) from the teardown at https://teardownatlas.com/robotics/ against my project
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