제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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- Pages.100-104
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- 1998
Design of a DSP-Based Adaptive Controller for Real Time Dynamic Control of AM1 Robot
- S. H. Han (School of Mechanical Engineering, Kyungnam University) ;
- K. S. Yoon (Research Institute of Industrial Technology, Yokyo University) ;
- Lee, M. H. (School of Mechanical Engineering & ERC/Net Shape & Die Manufacturing, Pusan National University) ;
- Kim, S. K. (Samsung Electric Co., Ltd.)
- 발행 : 1998.10.01
초록
This paper describes the real-time implementation of an adaptive controller fur the robotic manipulator. Digital signal processors(DSPs) are special purpose micro-processors that are particularly powerful for intensive numerical computations involving sums and products of variables. TMS320C50 chips are used in implementing real time adaptive control algorithms to provide an enhanced motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved Lyapunov second stability analysis based on the direct adaptive control theory. The adaptive controller consists of an adaptive feedforward controller and feedback controller. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a assembling robot.
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