CAJ | 학술논문

随着农业机器人的不断发展，智能化控制的程度也不断提升；但是在利用多轴运动控制卡（PMAC）控制时，由于采摘机器人的运动程序过大，无法一次加载到运动程序缓冲区内。为此，利用了PMAC控制卡的旋转缓冲区以及对采摘机器人进行逆向运动学分析，解决了过大程序加载的问题。结果表明，旋转缓冲区实时加载运动程序以及覆盖已经运行的程序，连续执行比PMAC存储空间大的运动程序（等效于SMCC的MDI模式）。
수착농업궤기인적불단발전，지능화공제적정도야불단제승；단시재이용다축운동공제잡（PMAC）공제시，유우채적궤기인적운동정서과대，무법일차가재도운동정서완충구내。위차，이용료PMAC공제잡적선전완충구이급대채적궤기인진행역향운동학분석，해결료과대정서가재적문제。결과표명，선전완충구실시가재운동정서이급복개이경운행적정서，련속집행비PMAC존저공간대적운동정서（등효우SMCC적MDI모식）。
With the development of agricultural robot , the degree of intelligent control is rising .When the PMAC was used for controlling , the motion program buffer of PMAC was not enough to execute whole programs .Because the motion programs were too much .This paper aimed at solving the problem of big motion program while over loading .Inverse ki-nematics of the picking robot was analyzed and the rotary buffer was used .When the rotary buffer of PMAC could load motion program and cover the run motion program , result showed the motion program could be run , which had bigger sto-ring space than motion buffer of PMAC ( the method was equivalent to the MDI mode of SMCC ) .