디지털 신호 처리기 (TNS320C50)를 사용한 스카라 로봇의 적응제어에 관한연구

A Study on an Adaptive Control for SCARA Robot Using Digital Signal Processor (TMS320C50)

This paper proposes a new technique to the design of adaptive control system using DSPs(TMS320C50) for Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved second stability analysis based on the indirect adaptive control theory. The proposed control scheme is simple in structure, fast in computation. an suitable for implementation of real-time control. Moreover, this scheme does not requre an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by exeperimental reults for a SCARA robot.