제어로봇시스템학회:학술대회논문집
- 1996.10b
- /
- Pages.61-64
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- 1996
Implementation of a pole-placement self-tuning adaptive controller for SCARA robot using TMS320C5X chip
TMS320C5X칩을 사용한 스카라 로봇의 극점배치 자기동조 적응제어기의 실현
- Bae, Gil-Ho ;
-
Han, Sung-Hyun
;
- Lee, Min-Chul ;
- Son, Kwon ;
- Lee, Jang-Myung ;
- Lee, Man-Hyung ;
- Kim, Sung-Kwon
- 배길호 (경남대학교 기계설계학과) ;
-
한성현
(경남대학교 기계설계학과)
;
- 이민철 (부산대학교 기계공학부) ;
- 손권 (부산대학교 기계공학부) ;
- 이장명 (부산대학교 기계공학부) ;
- 이만형 (부산대학교 기계공학부) ;
- 김성권 (㈜삼성전자 생산기술센타)
- Published : 1996.10.01
Abstract
This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using Digital signal processors for robot manipulators. TMS32OC50 is used in implementing real-time adaptive control algorithms to provide advanced performance for robot manipulator. In this paper, an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. Parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm, and controller parameters are determined by the pole-placement method. Performance of self-tuning adaptive controller is illustrated by the simulation and experiment for a SCARA robot.