케이블 감속을 이용한 소형 로봇의 개발과 실시간 제어에 관한 연구

• 영문명: A Study of Development and Real Time Control of Small Size Robot by Cable Reduction
• 발행기관: 강원대학교 산업기술연구소
• 저자명: 홍종성(Hong Jong Sung) 이정완(Lee Jung Wan)
• 간행물 정보: 『산업기술연구』vol.22, 251~260쪽, 전체 10쪽
• 주제분류: 공학 > 공학일반
• 파일형태: PDF
• 발행일자: 2002.09.30

영문 초록

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, include 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.

목차

Abstract

1. 서론

2. 로봇의 설계와 제작

3. 실시간 로봇 제어시스템

4. 로봇제어 실험

5. 결론

참고문헌

키워드

실시간 제어 케이블 감속 소형로봇 real time control cable reduction method small size robot