Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)
- Volume 20 Issue 1
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- Pages.146-153
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- 1996
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- 1226-4873(pISSN)
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- 2288-5226(eISSN)
DOI QR Code
Experimental Evaluation of Feedforward Control Based on the Dynamic Models of A Direct Drive SCARA Robot
직접구동 평면 다관절 로봇의 동역학적 모델에 따른 피드포워드 제어의 실험적 평가
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Hong, Yun-Sik
(Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
- Kang, Bong-Su (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
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Kim, Su-Hyeon
(Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
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Park, Gi-Hwan
(Dept. of Mechatronics, Gwangju Institute of Science and Technology) ;
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Kwak, Yun-Geun
(Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
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홍윤식
(한국과학기술원 기계공학과) ;
- 강봉수 (한국과학기술원 기계공학과) ;
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김수현
(한국과학기술원 기계공학과) ;
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박기환
(광주과학기술원 기전공학과) ;
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곽윤근
(한국과학기술원 기계공학과)
- Published : 1996.01.01
Abstract
A SCARA type direct drive robot which can be used in the assembly operation was designed and manufactured. Graphite fiber epoxy composite material was used in the fabrication of the robot arm structure in order to improve the speed of the robot arm with a high damping effect. For model-based control and sensitivity analysis of system parameters, the dynamic model of robot arm and drive servo amplifier parameters such as equivalent gains of PWM driver and velocity gains of servo system were estimated from frequency response tests. The complete dynamic model for overall robot system was used in the simulation of the open-loop control. The simulation results agreed reasonably well to the experimental results. The feedforward control using the dynamic models improved the trajectory tracking performance, decreasing the tracking error by factor of three compared with PID control. This study found that the inverse dynamic model of the robot arm including the drive servo system showed better performances than the case of arm dynamic model only.
Keywords