Journal of Power System Engineering (동력기계공학회지)

The Korean Society for Power System Engineering (한국동력기계공학회)
권호 표지
DOI QR코드

DOI QR Code

Robot Motion Regeneration based on Independent Arm Control System Design Method

  • Tran, Manh-Son (Department of Control and Mechanical Engineering, Pukyong National University) ;
  • Han, Kyu-Il (Department of Mechanical System Engineering, Pukyong National University) ;
  • Kim, Young-Bok (Department of Mechanical System Engineering, Pukyong National University)
  • Received : 2016.10.24
  • Accepted : 2016.12.12
  • Published : 2017.02.28
Download PDF
⟨ Previous Next ⟩

Abstract

In robot industries, the request to obtain a high efficiency and accurately controlled electric actuator has been growing. Nevertheless, the effectiveness of electric actuators is significantly affected by the presence of factors such as nonlinearity, uncertain disturbance and unknown dynamics. Therefore, it makes difficult to derive an exact mathematical model of the controlled system. In this paper, a new method for easily recognizing and regenerating robot motions used in small size industries such as painting and welding parts is proposed. Instead of modeling the entire dynamic motion of the robot system, this method is based on the procedure of modeling and controller design for every arm individually. The proposed method does not require complex model and control system such that it gives easy working process to the small size industries. Based on this fact, in this research, the model and PID controller for every arm of the 3 DOF robot system are obtained separately. Some experimental results are implemented to validate the effectiveness of the proposed method.

Keywords

References

  1. C. P. Hung and W. G. Liu, 2012,"Intuitive embedded teaching system design for multi-jointed robots", International Journal of Advanced Robotic Systems, Vol. 9, 34:2012.
  2. R. Ikeura, and H. Inooka, 1994, "Manual control approach to the teaching of a robot task", IEEE Transaction son Systems, Man and Cybernetics, Vol. 24, No. 9, pp.1339-136. https://doi.org/10.1109/21.310510
  3. S. Yong, Y. Huang, R. Chiba, T. Arai, T. Ueyama and J. Ota, 2013, "Teaching-playback robot 4manipulator system in consideration of singularities", IEEE International Conference on Advanced Intelligent Mechatronics, pp. 1-6.
  4. Y. Maeda and T. Nakamura, 2015, "View-based teaching and playback for robotic manipulation", ROBOMECH Journal, Springer, pp. 1-12.
  5. A. R. N. Ravari and H. D. Taghirad, 2008, "A novel hybrid Fuzzy-PID controller for tracking control of robot manipulators", IEEE International Conference on Robotics and Biomimetics, pp. 1625-1630.
  6. T. J. Tarn, A. K. Bejczy, X. Yun and Z. Li, 1991, "Effect of motor dynamics on nonlinear feedback robot arm control", IEEE Transactions On Robotics and Automation, Vol. 7, No.1, pp.114-122. https://doi.org/10.1109/70.68075
  7. M. Liu and N. H. Quach, 2001, "Estimation and compensation of gravity and friction forces for robot arms", Journal of Intelligent and Robotic Systems, Vol. 31, pp. 339-354. https://doi.org/10.1023/A:1012089607929
  8. D. Dang, C. Kang and Y. Kim, 2014, "A study on motion recognition and regeneration method", Journal of the Korean Society for Power System Engineering, Vol. 18, No. 4, pp. 97-103. https://doi.org/10.9726/kspse.2014.18.4.097
  9. D. Dang, C. Kang and Y. Kim, 2015, "Robust control system design for robot motion regeneration under disturbance input", Journal of Drive and Control, Vol. 12, No. 3, pp. 1-10. https://doi.org/10.7839/ksfc.2015.12.3.001
  10. M. Soylemez, M. Gokasan and S. Bogosyan, 2003, "Position control of a single-link robot-arm using a multi-loop PI controller", Proceedings of IEEE Conference, Vol. 2, pp. 1001-1006.
  11. H. Delavari, R. Ghedari, A. Ranjbar, S. HosseinNia and S. Momani, 2010, "Adaptive fractional PID controller for robot manipulator", The 4th IFAC Workshop Fractional Differentiation and its Applications, pp. 1-7.
  12. F. C. Liu, L. H. Liang and J. J. Gao, 2014, "Fuzzy PID control of space manipulator for both ground alignment and space applications", International Journal of Automation and Computing, Vol. 11, No.4, pp. 353-360. https://doi.org/10.1007/s11633-014-0800-y
  13. C. Chiena and A. Tayebib, 2008, "Further results on adaptive it erative learning control of robot manipulators", Automatica, Vol. 44, pp. 830-837. https://doi.org/10.1016/j.automatica.2007.06.023
  14. P. Tomei, 1991, "Adaptive PD controller for robot manipulators", IEEE Transactions on Robotics and Automation, Vol.7, pp. 565-570. https://doi.org/10.1109/70.86088
  15. J. Swevers, W. Verdonck and J. De Schutter, 2007 "Dynamic model identification for industrial robots", IEEE Transactions on Control System, Vol. 27, Issue 5, pp. 58-71.
  16. N. Bompos, P. Artemiadis, A. Oikonomopoulos and K. Kyriakopoulos, 2007, "Modeling, full identification and control of the Mitsubishi PA-10 robot arm", International Conference on Advanced Intelligent Mechatronics, pp. 1-6.

Cited by

  1. Robot Arm Motion Control System Design based on Double Active Disturbance Rejection Method vol.23, pp.3, 2017, https://doi.org/10.9726/kspse.2019.23.3.065
  2. Accurate Robot Manipulator Control by Using a Model Reference Adaptive Control Method vol.23, pp.5, 2017, https://doi.org/10.9726/kspse.2019.23.5.075