Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Microprocessor Implementation of Secondary PID Controller for Motion of SCARA Type Robot

스카라형 로보트의 동작에 관한 2차 PID 제어기의 마이크로프로세서 구현

  • 박일영 (아주대학교 제어공학과) ;
  • 홍석교 (아주대학교 제어공학과)
  • Published : 1991.11.22
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Abstract

In this paper, the controllers for the motion of the 2-joint manipulator design two stages: (1) a primary controller that under ideal conditions makes the end-effector track the desired trajectory: (2) a secondary controller that compensates for undesirable deviations of the motion from the disired trajectory caused by external and/or internal disturbances. The secondary contoller is applied to PID control algorithm. and the controllers is actually designed using IBM-PC/AT and 8096 single chip microprocessor.

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