주물의 디버링(Deburring) 로봇에 관한 연구(PID유량제어에 의한 그라인디의 목표궤도제어)

Robotic Deburring for Casting(TRajectory Control of Grinder by PID Flow Rate Control

This paper presetns modifications of a hydraulic shovel to robotize, and we derive a dynamic model of the hydraulic shovel arms,and hydraulic analysis are discussed . Then , our purpose is making to imitate a target railroad line of the grinder position by the PID control. Moreover, to determine the gains of the PId controller, we referenced the Ziegler and Nichols' method. In this paper, we demonstrated that the PID control is available for system. These results indicated the possibility of practical use fo the deburring robot with the hydraulic shovel.