Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1996.07b
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- Pages.1222-1224
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- 1996
A Study on the Control of Hong Ik Direct Drive Arm Using TMS320C31
TMS320C31을 이용한 홍익적접구동팔의 제어에 관한 연구
- Choi, Jong-Moon (Dept. of Electrical & Control Eng., Hong Ik Univ.) ;
- Lee, Jong-Soo (School of Electric & Electrical Eng., Hong Ik Univ.)
- Published : 1996.07.22
Abstract
The Hong Ik Direct Drive Arm(HIDDA) is a SCARA typed direct drive manipulator with two degrees-of-freedom(DOF) using the direct drive motor of the NSK company. The direct NSK motors are used to give a large torque directly to the link, to reduce the modeling errors from the gears and chains. But, since the nonlinear coupling torques are transferred to the motor shaft without any reduction, we must consider a dynamic control algorithm. In this paper, we designed a robot controller for the HIDDA using a TMS320C31, which has the highest performance among the third DSP chips in the TI company. And we developed the integrated environment software of the robot management system to give the users an easy way of programming, running and simulation of the robot on the PC.
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