제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제13권7호
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  • Pages.649-655
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  • 2007
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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다관절 휴머노이드 로봇 팔의 제어를 위한 시간지연 제어기의 FPGA 구현 및 실험

FPGA Implementation and Experiment of a Time-Delayed Controller for Humanoid Robot Arm Control

  • 이운규 (충남대학교 BK21 메카트로닉스 그룹) ;
  • 전효원 (충남대학교 BK21 메카트로닉스 그룹) ;
  • 정슬 (충남대학교 BK21 메카트로닉스 그룹)
  • 발행 : 2007.07.01
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초록

In this paper, a time-delayed controller for position control of humanoid robot arms is designed and implemented on a field programmable gate array(FPGA) chip. The time-delayed control algorithm is simple to implement, and robust to reject disturbances. The time-delayed control method uses the one sample time-delayed previous information to cancel out uncertainties in the system. Since the sampling time is so fast with the current hardware technology, the time-delayed controller can be implemented. However, inertia values should be correctly estimated to have the better performance. The position tracking tasks of humanoid robot arms are tested to compare performances of several control algorithms including the time-delayed controller.

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참고문헌

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