한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1996년도 추계학술대회 논문집
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- Pages.754-758
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- 1996
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- 2005-8446(pISSN)
TMS320C5X칩을 사용한 스카라 로봇의 극점 배치 자기동조 적응제어기의 실현
Implementation of a Pole-Placement Self-Tuning Adaptive Controller for SCARA Robot Using TMS320C5X Chip
초록
This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using Digital signal processors for robot manipulators. TMS320C50 is used in implementing real-time adaptive control algorithms to provide advanced performance for robot manipulator, In this paper, an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. Parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm, and controller parameters we determined by the pole-placement method. Performance of self-tuning adaptive controller is illusrated by the simulation and experiment for a SCARA robot.
키워드