[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.21289/KSIC.2021.24.6.645

A Study on Fuzzy Logic Based Intelligent Control of Robot System to Improve the Work Efficiency for Smart Factory

Kim, Hee-Jin (Dept.of Mechanical Couvergence Engineering, Graduate School, Kyungnam University)
Kim, Dong-Ho (Dept.of Mechanical Couvergence Engineering, Graduate School, Kyungnam University)
Han, Sung-Hyun (School of Mechanical Engineering, Kyungnam University)

Publication Information

Journal of the Korean Society of Industry Convergence / v.24, no.6_1, 2021 , pp. 645-658 More about this Journal

Abstract

In this paper, we propose a new approach to intelligent control based on fuzzy logic for work efficiency improvement of smart factory by the applicaion of ariticulated robot. The intelligent control that is applied to the working process by the joint of robotic manipulator is the main focus to improve a work efficiency for implimentation of smart factory in general manufacturing process. In this study, we propose a new method of a fuzzy model and then develop a nonlinear relationship between interaction forces and manipulator position using a fuzzy model. The reliability of the proposed control method is illustrated by simulation and experiments.

Keywords

Intelligent Control; Work Efficiency Improvement; Implimentation of Smart Factory; Ariticulated Robot;

Citations & Related Records

Reference

1	H.J. Kim, G.W. Jang, D.H. Kim and S.H. Han, "A Study on Track Record and Trajectory Control of Robot Manipulator with Eight Joints Based on Monitoring Simulator for Smart Factory", KSIC.2020.23.4 pp. 549-558
2	S.H. Kim, D. B. Kim, H.J. kim, O.D. Im and S.H. Han, "A Study on Real Time Control of Moving Stuff Action Through Iterative Learning for Mobile-Manipulator System", KSIC.2019.22.4 pp. 415-425
3	W.S. Lee, M.S. Kim, H.Y. Bae, Y.K. Jung, Y.H. Jung, G.S. Shin, I.M. Park and S.H. Han, "A Study on Stable Motion Control of Humanoid Robot with 24 Joints Based on Voice Command", KSIC.2018.21.1 pp. 17-27
4	H.S. Sim, H.Y. Bae, D.B. Kim and S.H. Han, "A Study on Flexible Control and Design of Robot Hand Fingers with Eight Axes for Smart Factory", KSIC.2018.21.4 pp. 183-189.
5	T. Takagi and M. Sugeno, "Fuzzy Identification of S ystems a nd I ts A p plications t o Modeling and Control," IEEE Trans. Systems, Man and Cybernetics, vol. SMC-15, no. 1, pp. 116-132, 1985. DOI
6	M. H. Raibert, J. J. Craig, "Hybrid Position/Force Control of Manipulator," Trans. ASME, vol. 102, pp. 126133, jun., 1981.
7	H.J. Kim, D.H. Kim, K.J. Jung and S.H. Han, "A Study on Performance Analysis of Articulated Robot System for Smart Factory Based on Monitoring Simulator", KSIC.2020.23.6 pp. 889-896
8	An, C. H., and Hollerbach, J. M. "Dynamic stability issues in force control of manipulators," IEEE Int. Conf. Robotics Autom, Raleigh, NC, pp. 890-896, Mar. 31-Apr. 3, 1987.
9	J. Kenneth Salisbury, Jr., "Active stiffness Control of A Manipulator in Cartesian Coordinates," in 19th IEEE Conf. Decision and Control, pp.95-100, Dec., 1980.
10	F. L. Lewis, C. T. Abdallah, and D. M. Dawson, Control of Robot Manipulators, New York, MacMillan Publishing Company, 1993.
11	R. Volpe, "A Theoretical and Experimental Investigation of Impact Control for Manipulators," Int. J. Robotics Res, pp. 351-365, 1993.
12	Robert J. Anderson and Mark W. Spong, :Hybrid Impedance Control of Robotic Manipulators," IEEE Trans. Robotics Autom, vol. 4, no. 5, pp.549 -556, Oct. 1988. DOI
13	H.J. Kim, G.H. Dong, D.H. Kim, G.W. Jang and S.H. Han, "A Study on Track Record and Trajectory Control of Articulated Robot Based on Monitoring Simulator for Smart Factory", KSIC.2020.23.2 pp. 149-161
14	M. Sugeno and G. T. Kang, "Structure Identification of Fuzzy Model," Fuzzy Sets and Systems, vol. 28, pp. 15-33, 1988. DOI
15	M. Sugeno and T. Yasukawa, "A Fuzzy-Logic-Based Approach to Qualitative Modeling," IEEE Trans. Fuzzy