직접구동식 스카라 로봇의 개발 및 개인용 컴퓨터를 이용한 기초 힘/운동 제어

Development of a Direct Drive Scara Robot Manipulator and PC-Based Preliminary Force/Motion Control

In this paper, a direct drive scalar robot manipulator is constructed and its mechanical machanism for operation is explained. Also, a motion controller board for the direct drive robot manipulator was developed where the IBM 486 computer is the main controller. For the developed direct drive robot, a force/motion control algorithm based on an active compliance scheme is developed. A preliminary experiment using the developed direct drive for a peg-in-hole job was done by implementing the control algorithm.