Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Development of Multi-Axis Controller using DSP and its use on a Robot Control System

DSP를 이용한 다축제어기 개발 및 로봇 제어 시스템에의 응용

  • Lee, Joon-Soo (Korea Institute of Science and Technology Div. of Electronics & Information) ;
  • Yoo, Beom-Jae (Korea Institute of Science and Technology Div. of Electronics & Information) ;
  • Oh, Sang-Rok (Korea Institute of Science and Technology Div. of Electronics & Information) ;
  • Cho, Young-Jo (Korea Institute of Science and Technology Div. of Electronics & Information) ;
  • Lee, Chong-Won (Korea Institute of Science and Technology Advanced Robotic Research Center)
  • 이준수 (한국과학기술연구원 정보전자부) ;
  • 유범재 (한국과학기술연구원 정보전자부) ;
  • 오상록 (한국과학기술연구원 정보전자부) ;
  • 조영조 (한국과학기술연구원 정보전자부) ;
  • 이종원 (한국과학기술연구원 휴먼로봇연구센타)
  • Published : 1996.07.22
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Abstract

In this paper, we delelop 4-axis motion controller using TMS320c30 DSP chip and build a 5-axis vertical articulated robot control system. The 4-aixs controller uses a DSP, a high-speed AID and a D/A converter to implement advanced robot control algorithms. The robot control system uses VME-bus and VxWorks realtime multi-tasking operating system. We use RCCL type to implement robot languages.

Keywords