Real-Time OS 기반의 로봇 매니퓰레이터 동력학 제어기의 구현 및 성능평가

In this paper, a dynamic learning controller for robot manipulator is implemented using real-time operating system with capabilities of multitasking, intertask communication and synchronization, event-driven, priority-driven scheduling, real-time clock control, etc. The controller hardware system wi...

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Bibliographic Details
Published in전기학회 논문지 P권, 57(2) Vol. 57P; no. 2; pp. 109 - 114
Main Authors 高在源(Jaw-Won Kho), 林東哲(Dong-Cheol Lim)
Format Journal Article
LanguageKorean
Published 대한전기학회 2008
Subjects
전기공학
Robot Dynamics
Dynamic Learning Control
VME Bus
Robot Control System
Real-Time OS
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ISSN1229-800X
2586-7792

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Summary:In this paper, a dynamic learning controller for robot manipulator is implemented using real-time operating system with capabilities of multitasking, intertask communication and synchronization, event-driven, priority-driven scheduling, real-time clock control, etc. The controller hardware system with VME bus and related devices is developed and applied to implement a dynamic learning control scheme for robot manipulator. Real-time performance of the proposed dynamic learning controller is tested and evaluated for tracking of the desired trajectory and compared with the conventional servo controller.
Bibliography:KISTI1.1003/JNL.JAKO200818133147078
G704-001568.2008.57.2.004
ISSN:1229-800X
2586-7792