5자유도 로봇 팔의 모션 제어기 설계와 적용

Abstract

In this paper, we have made a motion controller to control robot arm with 5 DOF. In the case of Biped Robot, power and controller have to be installed in robot body. Until now, commercial controller is not appropriate for robot because of size and install problem. Therefore, we have designed motion controller and have made a communication protocol. So, we have established a system that is to control robot at local area. In the result, we have simplified the robot structure and have accomplished a independent system.