Implementation of a control system for a telerobot using DSP

DSP를 이용한 원격 로봇의 제어 시스템 구현

  • 노철래 (한국과학기술원 전기및 전자공학과) ;
  • 정명진 (한국과학기술원 전기및 전자공학과)
  • Published : 1991.10.01

Abstract

A high speed control system for a telerobot using DSP is developed. The system is designed to resolve computational burden in advanced algorithms. The design is assumed to h ave no specific algorithm and robot configuration. The system is composed of a teaching box, a DSP board, a set of servo drivers and 16 bit microcomputer system. The teaching box is designed as a man-machine interface, which has two joysticks with three degrees of freedom for velocity generation in Cartesian space. The DSP board, i.e. DSP56000ADS based on a 10.25MIPS digital signal processor, DSP56001, computes the inverse Jacobian matrix which transforms Cartesian velocity into joint velocity. A resolved motion rate control algorithm for a 5 degrees of freedom manipulator was implemented. About 100 Hz sampling rate was achieved in this system.

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