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

Kho, Jaw-Won (유한대학 컴퓨터제어과)
Lim, Dong-Cheal (두원공과대학 디스플레이공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers P / v.57, no.2, 2008 , pp. 109-114 More about this Journal
Abstract
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.
Keywords
Robot Dynamics; Dynamic Learning Control; Robot Control System; Real-Time OS; VME Bus;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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