한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1993년도 추계학술대회 논문집
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- Pages.333-338
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- 1993
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- 2005-8446(pISSN)
비례 및 미분 제어 이득계수 변화기법을 이용한 수직형 3축로봇팔의 위치제어기 설계 및 제작
초록
In this paper, we introduce an industrial three degree of freedom manipulator which loads/unloads various freight on an AGV(automated Guided Vehicle). We design and implement the industrial controller for the manipulator with P-I) gain variation method. Since this battery-powered manipulator is opten driven in an instufficient power condition, the gravity effects on the robot joints can be a significant problem. The objectives of this paper are twofold : the presentation of a PI)-controller which can compensate the gravity effects, and the design and implementation of an industrial three degree of freedom manipulator for loading/unloading.
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