한국산업융합학회 논문집 (Journal of the Korean Society of Industry Convergence)

  • 제20권1호
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  • Pages.34-48
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  • 2017
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  • 1226-833X(pISSN)
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  • 2765-5415(eISSN)
한국산업융합학회 (The Korean Society of Industry Convergence)
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고온 환경 단조공정 자동화를 위한 수직다관절 로봇의 실시간 작업경로 제어에 관한 연구

A Study on Real Time Working Path Control of Vertical Articulated Robot for Forging Process Automation in High Temperature Environments

  • 투고 : 2017.01.12
  • 심사 : 2017.03.08
  • 발행 : 2017.03.31
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초록

This study proposes a new approach to control a trajectory control of vertical type articulated robot arm with six revolution joints by computed torque method for manufacturing process automation. The proposed control scheme takes advantage of the properties of the fuzzy controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator for forging manufacturing process automation. The results is illustrated that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. This study is included with an analytical methodology of inverse kinematic computation for 6 DOF manipulators. And an intelligent PID based on feed forward fuzzy control structure is applied to control the working path control with disturbances caused by uncertainty parameters of the manipulator dynamic model. Lastly, the validity of proposed is verified by simulations and experiments.

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참고문헌

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