• 제목/요약/키워드: Digtal Signal Processor

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TMS320C5X 칩을 사용한 산업용 스카라 로봇의 견실제어 (An Robust Control Inderstrial SCARA Robot Manipulator Using TMS320C5X Chip)

  • 배길호;김용태;김휘동;염만오;한성연
    • 한국공작기계학회:학술대회논문집
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    • 한국공작기계학회 2002년도 춘계학술대회 논문집
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    • pp.173-179
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    • 2002
  • This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) fur robotic manipulators to achieve trajectory tracking angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved second stability analysis based on the indirect adaptive control theory. The proposed control scheme is simple in structure, fast in computation, an suitable fur implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by experimental results for a SCARA robot.

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