대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1996년도 하계학술대회 논문집 B
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- Pages.1225-1227
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- 1996
DSP를 이용한 다축제어기 개발 및 로봇 제어 시스템에의 응용
Development of Multi-Axis Controller using DSP and its use on a Robot Control System
- 이준수 (한국과학기술연구원 정보전자부) ;
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유범재
(한국과학기술연구원 정보전자부) ;
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오상록
(한국과학기술연구원 정보전자부) ;
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조영조
(한국과학기술연구원 정보전자부) ;
- 이종원 (한국과학기술연구원 휴먼로봇연구센타)
- Lee, Joon-Soo (Korea Institute of Science and Technology Div. of Electronics & Information) ;
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Yoo, Beom-Jae
(Korea Institute of Science and Technology Div. of Electronics & Information) ;
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Oh, Sang-Rok
(Korea Institute of Science and Technology Div. of Electronics & Information) ;
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Cho, Young-Jo
(Korea Institute of Science and Technology Div. of Electronics & Information) ;
- Lee, Chong-Won (Korea Institute of Science and Technology Advanced Robotic Research Center)
- 발행 : 1996.07.22
초록
In this paper, we delelop 4-axis motion controller using TMS320c30 DSP chip and build a 5-axis vertical articulated robot control system. The 4-aixs controller uses a DSP, a high-speed AID and a D/A converter to implement advanced robot control algorithms. The robot control system uses VME-bus and VxWorks realtime multi-tasking operating system. We use RCCL type to implement robot languages.
키워드