한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2001년도 추계학술대회 논문집
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- Pages.149-153
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- 2001
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- 2005-8446(pISSN)
Fuzzy Algorithm에 의한 1-링크 탄성 로보트 Arm 선단의 위치제어
초록
This paper presents an end-point control of 1-link flexible arm tip-mass by using fuzzy position control algorithm. The arm is mounted on a translational mechanism driven by a ballscrew, whose rotation is controlled by a DC servomotor. Tip position is controlled so that it follows a desired position. Feedback signal is composed of both tip displacement error and change of error. This paper gives tip responses according to the variations of tip-mass and beam length, and the effects of reducing the residual vibrations occurring at the end-point. In the case of the residual vibrations of tip displacement, fuzzy control has better results than the PD-control.
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