Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of robot control system using DSP

DSP를 이용한 로보트 제어시스템 개발

  • Lee, Bo-Hee (Dept.of Operation Engineering, Inha University) ;
  • Kim, Jin-Geol (Dept.of Operation Engineering, Inha University)
  • 이보희 (인하대학교 자동화공학과) ;
  • 김진걸 (인하대학교 자동화공학과)
  • Published : 1995.09.01
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Abstract

In this paper, the design and the implementation of the controller for an articulate robot, which is developed in our Automatic Control Laboratory, are mainly discussed. The controller reduces software computational load via distributed processing method using multiple CPU's, and simplifies structures by the time-division control with TMS320C31 DSP chip. The method of control is based on the fuzzy-compensated PID control with scale factor, which compensates for the influence of load variation resulting from the various postures of the robot with conventional PID scheme. The application of the proposed controller to the robot system with DC servo-motors shows some excellent control capabilities. Also, the response characteristics of system for the various trajectory commands verify the superiority of the controller.

Keywords

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