로보트 매니퓰레이터(3-축)의 제작과 제어 알고리즘 적용에 관한 연구

A Study on design of Robot Manipulator and Application of Control Algorithm

This paper is to show design of robot manipulator which has 3-link using DC Motor and realization of control algorithm with IBM - XT Micro-computer connected. Gentral algorithm is applicated by position and pass control using point-to-point method. At first, this paper computes required angles on each joint in order to search desired position or path, and uses a voltage control with feedback from output of encoder and tachometer in real time. The application of control algorithm on position, velocity and force for each joint of manipulator by using self-tuning control is left for next study.