한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1996년도 춘계학술대회 논문집
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- Pages.427-431
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- 1996
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- 2005-8446(pISSN)
무고정조립작업을 위한 협조 로봇 매니퓰레이터의 제어
control of Two-Coopearationg Robot Manipulators for Fixtureless Assembly
초록
A modeling of the dynamics of two cooperating robot manipulators doing assembly job such as peg-in-hole while coordinating the payload along the desired path is proposed. The system is uncertain due to the unknown mass and moment of inertia of the manipulators and the payload. To control the system, a robust control algorithm is proposed. The control algorithm includes fuzzylogic. By the fuzzy logic, the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation with keeping path tracking errors bounded.
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