Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
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Development of a Motion Simulator for Portable Type Welding Robot Based on Adaptive Control

적응 제어 기반 Portable 용접 로봇 시뮬레이터 개발

  • Ku, Nam-Kug (Department of Naval Architecture and Ocean Engineering, Seoul National University) ;
  • Ha, Sol (Department of Naval Architecture and Ocean Engineering, Seoul National University) ;
  • Roh, Myung-Il (School of Naval Architecture and Ocean Engineering, University of Ulsan)
  • 구남국 (서울대학교 조선해양공학과 대학원) ;
  • 하솔 (서울대학교 조선해양공학과 대학원) ;
  • 노명일 (울산대학교 조선해양공학부)
  • Received : 2012.01.02
  • Accepted : 2012.09.10
  • Published : 2012.10.20
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Abstract

It is not easy to know the accurate mass and mass moment of inertia of robot. Because of this uncertainty, error may exist when we control the robot based on the inaccurate mass information. Moreover the properties of the portable robot can change during its operation. Therefore we developed the motion simulator based on the adaptive control. First, the computed torque control was carried out in order to minimize an error between target angles and real angles. The computed torque control is based on the equation of robot motion, which is derived from the Lagrange-Euler equation. To minimize the error between the real model and the approximated model, the adaptive control was carried out. During this simulation, the interference check was also carried out. The interference check verifies that the robot can move successfully without any collision.

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References

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