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http://dx.doi.org/10.21289/KSIC.2020.23.6.889

A Study on Performance Analysis of Articulated Robot System for Smart Factory Based on Monitoring Simulator  

Kim, Hee Jin (Dept.of Mechanical Engineering, Graduate School, Kyungnam University)
Kim, Dong-ho (Dept.of Mechanical Engineering, Graduate School, Kyungnam University)
Jung, Kum-jun (Daewoong engineering Co.Ltd)
Han, Sung-Hyun (School of Mechanical Engineering, Kyungnam University)
Publication Information
Journal of the Korean Society of Industry Convergence / v.23, no.6_1, 2020 , pp. 889-896 More about this Journal
Abstract
We describe a new approach to the analyze the control performance of robotic manipulator based on the monitoring system. The structure of monitoring simulator is consist of seven modes such as control state mode, coordinate mode, input/output mode, program mode, parameters mode, and track mode. The applied control algorithme consists of an time varying feed-forward and feedback controller. The proposed scheme is simple in structure, fast in computation, and suitable for real-time implimemtation. Moreover, this scheme does not require any accurate dynamic modeling and values of parameters. Performance of the proposed monitoring system is illustrated by simulation and experiment for robot manipulator with six degrees of freedom.
Keywords
Real-Time Implementation; Monitoring system; Smart factory; Track record; Performance anlysis;
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