Title :
Integrated SCARA robot control system with OLP and its performance evaluation
Author :
Lee, Min C. ; Son, K. ; Lee, J.M.
Author_Institution :
Sch. of Mech. Eng., Pusan Nat. Univ., South Korea
Abstract :
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
Keywords :
industrial robots; robot programming; robust control; variable structure systems; data communication; digital signal processor; integrated SCARA robot control system; off-line programming software; online robot joint controller; performance evaluation; real-time tasks; reset; servo commands; servo on/off; sliding mode control algorithm; trajectory tracking; user interface; virtual robot control system; zero return; Digital signal processors; Performance evaluation; Robot control; Robot programming; Robust control; Servomechanisms; Signal processing algorithms; Sliding mode control; Software performance; User interfaces;
Conference_Titel :
SICE '97. Proceedings of the 36th SICE Annual Conference. International Session Papers
Conference_Location :
Tokushima
DOI :
10.1109/SICE.1997.624947