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TMS320C5X 칩을 사용한 산업용 스카라 로봇의 견실제어
배길호,김용태,김휘동,염만오,한성현 한국공작기계학회 2002 한국공작기계학회 춘계학술대회논문집 Vol.2002 No.-
This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) for 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 for implementation of real-time control. Moreover, this scheme does not requre an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by exeperimental results for a SCARA robot.