대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1991년도 추계학술대회 논문집 학회본부
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- Pages.401-404
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- 1991
스카라형 로보트의 동작에 관한 2차 PID 제어기의 마이크로프로세서 구현
Microprocessor Implementation of Secondary PID Controller for Motion of SCARA Type Robot
- Park, Il-Young (DEPT. OF CONTORL ENG. AJOU UNIV.) ;
- Hong, Suk-Kyo (DEPT. OF CONTORL ENG. AJOU UNIV.)
- 발행 : 1991.11.22
초록
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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