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The construction of control environment and control new radiation robot

Title
The construction of control environment and control new radiation robot
Translated Title
새로운 방사선 로봇을 위한 제어환경 구축과 제어
Authors
Park, Dea Yong
DGIST Authors
Park, Dea Yong; Chang, Pyung Hun
Advisor(s)
Chang, Pyung Hun
Co-Advisor(s)
Chung, Weon kuu
Issue Date
2015
Available Date
2015-07-19
Degree Date
2015. 8
Type
Thesis
Keywords
New radiation robotReal time application interface (RTAI)Time delay control (TDC)새로운 방사선 로봇시간 지연 제어기(TDC)
Abstract
In this paper, the construct the control environment for the new radiation robot and the control the prototype of the new radiation robot using time delay control (TDC). The design of the new radiation robot has been developed in author’s laboratory. In order to control the new radiation robot, it is necessary to build a control environment and be applied to the control law. The control environment used real time application interface (RTAI) to enable strict time control. In strict time control, the control system can perform the intended function in the desired time. The control law used in this thesis is time delay control (TDC). TDC is control scheme to compensate for the amount of the nonlinear dynamics of a plant and unpredictable disturbances by using time delay estimation scheme. This control method has a simple structure and requires small computation. In order to verify the construction of control environment for new radiation robot and to check the tracking error of TDC, experiment is conducted. The sampling time is measured in real time operating system. The number of its data is 21000 and its average is 1ms. The average of latency is 0.003047ms. Tracking error of TDC for all joints is within ±0.2 degree. Thus, the control environment for real-time is well established and it shows the possibility of accurate position control for the new radiation robot by using TDC. ⓒ 2015 DGIST
Table Of Contents
1.INTRODUCTION 1 -- 1.1Background 1 -- 1.2Objective 2 -- 2.METHODS 5 -- 2.1Design of New radiation robot 5 -- 2.2Control System 6 -- 2.2.1Hardware 6 -- 2.2.2Real time operating system 8 -- 2.2.3Time delay control 18 -- 3.RESULTS 21 -- 3.1Experiment 21 -- 3.1.1Experiment Setup & Plan 21 -- 3.1.2Experiment Result 26 -- 4.CONCULSION 30 -- 4.1Conclusion 30 -- REFERENCES 31
URI
http://dgist.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002067937
http://hdl.handle.net/20.500.11750/1409
DOI
10.22677/thesis.2067937
Degree
Master
Department
Robotics Engineering
University
DGIST
Files:
Collection:
Robotics EngineeringThesesMaster


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