고온 환경 단조공정 자동화를 위한 수직다관절 로봇의 실시간 작업경로 제어에 관한 연구 (A Study on Real Time Working Path Control of Vertical Articulated Robot for Forging Proces Automation in High Temperature Environments)

서지정보

· 발행기관 : 한국산업융합학회
· 수록지 정보 : 한국산업융합학회논문집 / 20권 / 1호 / 34 ~ 48페이지
· 저자명 : 조상영, 김민성, 도기훈, 한성현, 하언태, 심현석, 임창식

초록

This study proposes a new aproach to control a trajectory control of vertical type articulated robot arm with six revolution joints by computed torque method for manufacturing proces automation. The proposed control scheme takes advantage of the properties of the fuzy controlers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator for forging manufacturing proces automation. The results is ilustrated that the proposed fuzy computed torque controler is more stable and robust than the conventional computed torque controler. This study is included with an analytical methodology of inverse kinematic computation for 6 DOF manipulators. And an inteligent PID based on fed forward fuzy control structure is aplied to control the working path control with disturbances caused by uncertainty parameters of the manipulator dynamic model. Lastly, the validity of proposed is verifed by simulations and experiments.

영어초록

This study proposes a new aproach to control a trajectory control of vertical type articulated robot arm with six revolution joints by computed torque method for manufacturing proces automation. The proposed control scheme takes advantage of the properties of the fuzy controlers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator for forging manufacturing proces automation. The results is ilustrated that the proposed fuzy computed torque controler is more stable and robust than the conventional computed torque controler. This study is included with an analytical methodology of inverse kinematic computation for 6 DOF manipulators. And an inteligent PID based on fed forward fuzy control structure is aplied to control the working path control with disturbances caused by uncertainty parameters of the manipulator dynamic model. Lastly, the validity of proposed is verifed by simulations and experiments.

참고자료

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