Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Real-time Implementation of a Fuzzy Tuning Discrete-Time Repetitive Control for a Direct Drive Robot

직접구동형 로보트에 대한 퍼지 튜닝 이산시간 반복제어의 실시간 구현

  • Kim, Sung-Hyun (Department of Electronics Engineering, Kookmin University) ;
  • Ahn, Hyun-Sik (Department of Electronics Engineering, Kookmin University) ;
  • Kim, Do-Hyun (Department of Electronics Engineering, Kookmin University)
  • Published : 1997.11.29
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Abstract

In this paper, a fuzzy tuning discrete-time repetitive control is suggested for a robot manipulator. Real-time implementation of this type of repetitive controller is also performed for a 2 link direct drive robot by using a real-time control system which consists of a real-time OS(Spectra), a single board computer, a communication board and an analog input/output board. First, it is shown that the tracking error is effectively reduced by discrete-time repetitive control. Second, the convergence performance is shown to be much improved by the suggested controller using real-time experimentations.

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