| Title |
Implementation and Performance Evaluation of RTOS-Based Dynamic Controller for Robot Manipulator |
| Authors |
고재원(Kho, Jaw-Won) ; 임동철(Lim, Dong-Cheal) |
| Keywords |
Robot Dynamics ; Dynamic Learning Control ; Robot Control System ; Real-Time OS ; VME Bus |
| Abstract |
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. |