제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2005년도 ICCAS
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- Pages.1972-1977
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- 2005
Development of Inverse Dynamic Controller for Industrial robots with HyRoHILS system
- Yeon, Je-Sung (Department of Precision Mechanical Engineering, Hanyang University) ;
- Kim, Eui-Jin (Electro-Mechanical Research Institute, Hyundai Heavy Industries Co, Ltd.) ;
- Lee, Sang-Hun (Electro-Mechanical Research Institute, Hyundai Heavy Industries Co, Ltd.) ;
- Park, Jong-Hyeon (School of Mechanical Engineering, Hanyang University) ;
- Hur, Jong-Sung (Electro-Mechanical Research Institute, Hyundai Heavy Industries Co, Ltd.)
- 발행 : 2005.06.02
초록
In this work, an inverse dynamic control method is developed to enhance tracking performance of industrial robots, which effectively deal with the nonlinear dynamic interferential forces. In general, the DFF (Dynamic Feed-Forward) controller and the CTM (Computed-Torque Method) controller are used for dynamic control for industrial robots. We study on the practical issues for implementing these inverse dynamic controllers via simulations and experiments. We develop the dynamic models in two different ways. One is a model designed through Newton-Euler method for real time computation and the other is a model designed through SimMechanics for evaluating the developed controller via simulations. We evaluate the nominal performance and robustness of the controller via simulations and experiments using serial 4-DOF HyRoHILS (Hyundai Robot Hardware-In-the-Loop Simulation) system. The results show that the inverse dynamic controller is effective and practically useful for a real control structure.