A Design on the Rhino XR-3 Robot Controller Using TMS320c31

TMS320c31을 이용한 Rhino XR-3 로봇 제어기 설계

  • 박원기 (서강대학교 전자공학과) ;
  • 이쾌희 (서강대학교 전자공학과)
  • Published : 1998.11.28

Abstract

A robot manipulator is a nonlinear time varying MIMO system. Therefore, when a robot manipulator operates at high speeds, the performance of pursuing its trace becomes worse due to the increased nonlinearity of system. Several nonlinear control methods are introduced for solving this problem. But, these methods need a large amount of calculations, so it is necessary to use the controller equipped with a faster and more efficient processing ability. In this paper, we designed the Rhino XR-3 Robot Controller which controls five joints concurrently. To reduce the size of the controller and to control 6 dc-servo motors in real time, we use the TMS320c31, the high-speed digital signal processor.

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