교육용 로보트의 설계에 관한 연구 -DC써어보모타의 위치 및 속도제어기를 중심으로

A Study on the Design of an Educational Robot System -On a Speed and Position Controller of DC Servo Motor-

In this paper we present how to design the software-based speed and position controller of a DC servo drive system for an educational robot. The controller designed by fully digital scheme consists of a CPU, drive unit, encoder pulse coding unit, speed and position detector. The control algirithm of the controller is a hybrid one such that speed control and position control are switched at some instant to get more accuracy. The experimental resusts of the proposed DC servo-controller show good performances for the position and speed control of the proposed educational robot system.