IEEE1394를 이용한 다관절 로봇의 분산 제어 네트워크 개발
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 조정산 | - |
dc.contributor.author | 성영휘 | - |
dc.date.available | 2020-04-24T14:25:25Z | - |
dc.date.created | 2020-03-31 | - |
dc.date.issued | 2007 | - |
dc.identifier.issn | 1975-5066 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/kumoh/handle/2020.sw.kumoh/3276 | - |
dc.description.abstract | This paper propose a control network system based on IEEE1394 for a multi body robot control. The IEEE1394 has the characteristic of high speed(400Mbps), real-time, stability and plug&play. And IEEE1394 also supports freeform daisy chaining, branching and hot plugging, which reduce cabling complexity and make a system simple. Especially, multi host and broad casting support network data sharing method which is suitable for control network for multi body robot. Through experiment, we show that the proposed control network can interface 48 joints (BLDC motors, gears, and encoders) and four 6-axis force/torque sensors with 4Khz communication bandwidth, which is adequate for a multi body robot. | - |
dc.language | 한국어 | - |
dc.language.iso | ko | - |
dc.publisher | 대한임베디드공학회 | - |
dc.title | IEEE1394를 이용한 다관절 로봇의 분산 제어 네트워크 개발 | - |
dc.title.alternative | Control Network design for Multi Body Robot Based on IEEE1394 | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 성영휘 | - |
dc.identifier.bibliographicCitation | 대한임베디드공학회논문지, v.2, no.4, pp.221 - 226 | - |
dc.citation.title | 대한임베디드공학회논문지 | - |
dc.citation.volume | 2 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 221 | - |
dc.citation.endPage | 226 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART001424380 | - |
dc.description.journalClass | 2 | - |
dc.subject.keywordAuthor | IEEE1394 | - |
dc.subject.keywordAuthor | Control Network | - |
dc.subject.keywordAuthor | multi body robot | - |
dc.subject.keywordAuthor | IEEE1394 | - |
dc.subject.keywordAuthor | Control Network | - |
dc.subject.keywordAuthor | multi body robot | - |
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