제어로봇시스템학회:학술대회논문집
- 1996.10b
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- Pages.503-506
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- 1996
Integrated robot control system for off-line teaching
오프라인 교시작업을 위한 통합 로봇제어시스템의 구현
Abstract
An integrated Robot control system for SCARA robot is developed. The system consists of an off-line programming(OLP), software and a robot controller using four digital signal processor(TMS32OC50). The OLP has functions of teaching task, dynamic simulator, three dimensional animation, and trajectory planning. To develop robust dynamic control algorithm, a new sliding mode control algorithm for the robot is proposed. The trajectory tracking performance of these algorithm is evaluated by implementing to SCARA robot(SM5 type) using DSP controller which has conventional PI-FF control algorithm. To make SCARA robot operate according to off-line teaching, an interface between OLP and robot controller in the integrated system is designed. To demonstrate performance of the integrated system, the proposed control algorithm is applied to the system.
Keywords
- integrated robot control system;
- a SCARA robot;
- a off-line programming software;
- a sliding mode control;
- a digital signal processor