The Development of a Remote User Interface for the Manipulator using the Ethernet

이더넷을 이용한 매니퓰레이터의 원격 유저 인터페이스 개발

  • 이종수 (홍익대학교 전자전기 공학부) ;
  • 류승엽 (홍익대학교 대학원 전기제어공학과) ;
  • 이기주 (홍익대학교 대학원)
  • Published : 1998.11.28

Abstract

The operation of robot manipulators has a restriction that the operator must reside at the factory, where the manipulator is used. To overcome this restriction, we propose a remote control system using the internet, the system which runs on the Window 95 environment is composed of the remote client which transfers commands to the server which control and manage the manipulator in the factory. In the control of Hong-ik Direct Drive Arm, it is necessary to consider the complex nonlinear parameters causing the mutual interaction between joints, so we use two TMS320C31 DSP chips in the controller for the real time dynamic control algorithms. For the test of system integrity and the verification of the mathematical modeling, we apply CTM, PD and VSS control algorithms and the simulation results are satisfactory.

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