대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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- Pages.564-566
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- 1998
TMS320c31을 이용한 Rhino XR-3 로봇 제어기 설계
A Design on the Rhino XR-3 Robot Controller Using TMS320c31
- Park, Won-Ki (Dept.of Electronic Eng. Sogang Univ.) ;
- Lee, Kwae-Hi (Dept.of Electronic Eng. Sogang Univ.)
- 발행 : 1998.11.28
초록
A robot manipulator is a nonlinear time varying MIMO system. Therefore, when a robot manipulator operates at high speeds, the performance of pursuing its trace becomes worse due to the increased nonlinearity of system. Several nonlinear control methods are introduced for solving this problem. But, these methods need a large amount of calculations, so it is necessary to use the controller equipped with a faster and more efficient processing ability. In this paper, we designed the Rhino XR-3 Robot Controller which controls five joints concurrently. To reduce the size of the controller and to control 6 dc-servo motors in real time, we use the TMS320c31, the high-speed digital signal processor.
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