Journal of Industrial Technology (산업기술연구)
- Volume 22 Issue B
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- Pages.251-260
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- 2002
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- 1229-9588(pISSN)
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- 1598-1371(eISSN)
A Study of Development and Real Time Control of Small Size Robot by Cable Reduction
케이블 감속을 이용한 소형 로봇의 개발과 실시간 제어에 관한 연구
- Published : 2002.12.31
Abstract
In this thesis, a three degrees of freedom robot, which is able to provide sufficient precision for various robot researches, has been developed. The cable mechanism is used as a basic transmission of robot joints. Based on an optimal design strategy, link and joint parameters are determined and then overall geometry of the robot is designed. As an architecture of robot control, real time control system using real time linux and RtiC-Lab(Real Time Controls Laboratory) is developed. This system, written in C and based on Linux O/S, includes text editor, compiler, downloader, and real time plotter running in host computer for developing control purpose. Using these hardware and software, simple PD position control is implemented, the results shows the effectiveness of the system.