The construction of control environment and control new radiation robot

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