An Adaptive Controller Design for Inderstrial Robotic Maniqulator Using TMS320C5X Chip

TMS320C5X 칩을 사용한 산업용 로보트 매니퓰레이터의 적응제어기 설계

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) for robotic manipulators to achieve trajectorytracking angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adapation laws are derived from the improved second stability analysis based on the indirect adaptive control theory.l 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 paramenters and payload Performance of the adaptive controller is illustrated by exeperimental results for a SCARA robot.