By Topic

Integrated SCARA robot control system with OLP and its performance evaluation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Lee, M.C. ; Sch. of Mech. Eng., Pusan Nat. Univ., South Korea ; Son, K. ; Lee, J.M.

Combines a virtual robot control system and an actual one for a more convenient user interface for operating a robot. The virtual system and its environments are constructed by off-line programming software. The off-line programming software is presented and its overall performance is evaluated in a task done by the integrated robot system. An online robot joint controller is set up for a SCARA robot using a digital signal processor. A new sliding mode control algorithm is proposed to achieve robust control for variable tasks in integrated robot control systems. A performance evaluation shows that real-time tasks can be easily performed using the off-line programming software which can handle data communication and driving servo commands such as servo on/off, reset, and zero return. The trajectory tracking of the sliding mode control algorithm is evaluated by implementing it on a SCARA robot which uses a conventional PI-FF control algorithm

Published in:

SICE '97. Proceedings of the 36th SICE Annual Conference. International Session Papers

Date of Conference:

29-31 Jul 1997