로봇 매니퓰레이터를 위한 RTOS 기반 동력학 제어기의 구현 및 성능평가

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

In this paper, a real-time control system 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 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 for tasks of tracking moving objects and compared with the conventional servo controller.