인터넷을 이용한 원격 로봇 제어기의 개발

The development of the remote robot controller using the internet

We propose a remote controller for a SCARA typed direct drive manipulator with two degrees-of-freedom(DOF). A remote controller system for SCARA robot of DDA is designed using a 2 DSP (TMS320c31) board and Winsock(Internet program class library supplied by Microsoft). The design objective of the system is to implement real time dynamic control algorithms which have been tested only by simulations so far and remote control regardless of the distance between user and robot. Because this system runs on Win95, we developed a VxD program to communicate with DSP controller.