평면좌표계형 로보트구동을 위한 퍼지 제어기 개발

Development of DC Servo Motor Fuzzy Controller for Drive of Cartesian Coordinate Type Robot

Because of the convenience of variable speed control and proportion of input current and torque, DC servo motor has been used as an actuator. With increasing development speed of robot and factory automation machinery, the actuator of excellent control characteristics is demanded. In this paper, The control characteristics of DC servo motor is tested by Fuzzy control with microprocessor and DC servo motor controller is designed for drive of the cartesian coordinate type robot. The control characteristics experimentation is realized to one axis position, two axes coordinate and circular motion control by experimental equipments.