한국공작기계학회:학술대회논문집 (Proceedings of the Korean Society of Machine Tool Engineers Conference)
- 한국공작기계학회 2002년도 춘계학술대회 논문집
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- Pages.173-179
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- 2002
TMS320C5X 칩을 사용한 산업용 스카라 로봇의 견실제어
An Robust Control Inderstrial SCARA Robot Manipulator Using TMS320C5X Chip
초록
This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) fur robotic manipulators to achieve trajectory tracking angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved second stability analysis based on the indirect adaptive control theory. The proposed control scheme is simple in structure, fast in computation, an suitable fur implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by experimental results for a SCARA robot.
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