Control Theory
Industrial Robot Control
- Main Goals
To design and implement a S/W system to control and manipulate industrial robots based on motion controllers.
To develop planning algorithms for trajectory planning and trajectory blending.
To construct a S/W library and utility tools to parse and execute robot programming language.
To develop a S/W framework to analyze robot kinematics.
To develop an integrated virtual environment for simulation.
- Concept Diagram
- Main Functions
Trajectory planning and blending algorithms
Robot programming language parsing and supporting modules
Integrated GUI system
- H/W Configuration
H/W robot
Samsung Electronics' 6-DOF articulated robot: Fara RAS2
Motion controller
Samsung Electronics' Multi-Motion Controller (MMC)
Linear Motor Control
- Main Goals
To develop control algorithms to improve stability and accuracy of linear motor systems.
To develop compensation algorithms to reduce cogging force and velocity ripple.
To develop an integrated GUI framework.
- Control Algorithms
Basic control logic: PID control
Current control logic: SV PWM control
- S/W Configuration
