전기학회논문지P (The Transactions of the Korean Institute of Electrical Engineers P)

  • 제57권2호
  • /
  • Pages.109-114
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  • 2008
  • /
  • 1229-800X(pISSN)
  • /
  • 2586-7792(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

Real-Time OS 기반의 로봇 매니퓰레이터 동력학 제어기의 구현 및 성능평가

Implementation and Performance Evaluation of RTOS-Based Dynamic Controller for Robot Manipulator

  • 고재원 (유한대학 컴퓨터제어과) ;
  • 임동철 (두원공과대학 디스플레이공학과)
  • 발행 : 2008.06.01
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초록

In this paper, a dynamic learning controller for robot manipulator is implemented using real-time operating system with capabilities of multitasking, intertask communication and synchronization, event-driven, priority-driven scheduling, real-time clock control, etc. The controller hardware system with VME bus and related devices is developed and applied to implement a dynamic learning control scheme for robot manipulator. Real-time performance of the proposed dynamic learning controller is tested and evaluated for tracking of the desired trajectory and compared with the conventional servo controller.

키워드

참고문헌

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