Journal of Industrial Technology (산업기술연구)

Kangwon National University, Institute of Industrial Technology (강원대학교 산업기술연구소)
권호 표지

A Study of Development and Real Time Control of Small Size Robot by Cable Reduction

케이블 감속을 이용한 소형 로봇의 개발과 실시간 제어에 관한 연구

  • 홍종성 (강원대학교 대학원 기계 메카트로닉스공학과) ;
  • 이정완 (강원대학교 기계메카트로닉스공학부)
  • Published : 2002.12.31
Download PDF
⟨ Previous Next ⟩

Abstract

In this thesis, a three degrees of freedom robot, which is able to provide sufficient precision for various robot researches, has been developed. The cable mechanism is used as a basic transmission of robot joints. Based on an optimal design strategy, link and joint parameters are determined and then overall geometry of the robot is designed. As an architecture of robot control, real time control system using real time linux and RtiC-Lab(Real Time Controls Laboratory) is developed. This system, written in C and based on Linux O/S, includes text editor, compiler, downloader, and real time plotter running in host computer for developing control purpose. Using these hardware and software, simple PD position control is implemented, the results shows the effectiveness of the system.

Keywords