• Title/Summary/Keyword: 디버링 제어

Search Result 14, Processing Time 0.017 seconds

Robotic Deburring for Casting(TRajectory Control of Grinder by PID Flow Rate Control (주물의 디버링(Deburring) 로봇에 관한 연구(PID유량제어에 의한 그라인디의 목표궤도제어))

  • 강순동;허만조;원경;횡천융일
    • Proceedings of the Korean Society for Technology of Plasticity Conference
    • /
    • 1995.03a
    • /
    • pp.131-144
    • /
    • 1995
  • This paper presetns modifications of a hydraulic shovel to robotize, and we derive a dynamic model of the hydraulic shovel arms,and hydraulic analysis are discussed . Then , our purpose is making to imitate a target railroad line of the grinder position by the PID control. Moreover, to determine the gains of the PId controller, we referenced the Ziegler and Nichols' method. In this paper, we demonstrated that the PID control is available for system. These results indicated the possibility of practical use fo the deburring robot with the hydraulic shovel.

  • PDF

Appling of Force Control of the Robotic Sweeping Machine for Grinding (연마작업을 위한 로봇형 연마기의 힘제어 적용)

  • Jin, Taeseok
    • Journal of the Korea Institute of Information and Communication Engineering
    • /
    • v.18 no.2
    • /
    • pp.276-281
    • /
    • 2014
  • In this research, we describe a force feedback control for industrial robots has been proposed as a system which is suitable to work utilizing pressure sensitive alternative to human. Conventionally, polished surface of the workpiece are recognized, chamfer ridge, machining processes such as deburring, and it is most difficult to automate because of its complexity, has been largely dependent on the human. To aim to build automatic vacuum system robotic force control was gripping the grinding tool, the present study we examined the adaptability to the polishing process to understand the characteristics of the control system feedback signal obtained from the force sensor mainly. Furthermore, as a field, which holds the key to the commercialization, I went ahead with the application to robotic sweeping machine. As a result, the final sweeping utilizing a robot machine to obtain a very good grinded surface was revealed.

Implementation of Magnetic Detection Method based Steel Ball Monitoring System (자기탐상 기반의 Steel Ball 모니터링 시스템 구현)

  • Cho, Seong-Beom;Jeong, Sung-Hak;Jeong, Do-Un
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
    • /
    • 2011.05a
    • /
    • pp.782-783
    • /
    • 2011
  • 본 연구에서는 자동차 부품 가공공정에서 적용하는 캐스케이드 디버링(cascade deburring) 후 잔존하는 스틸볼(steel ball)을 자동으로 감지하기위한 시스템을 구현하였다. 구현된 시스템은 자화부, 검출부, 제어부, PC 모니터링부로 구성되었다. 스틸볼 착자화 및 감지 정밀도의 향상, 외부노이즈 대응능력 등의 환경 변화에 영향을 받지 않는 신뢰성이 뛰어난 성능을 갖는 시스템을 구현하고자 하였으며 이를 위한 미세 스틸볼 감지시스템의 착자화부를 구현하고 성능평가를 수행하였다.

  • PDF

Collision-Free Trajectory Planning for Dual Robot Arms Using Iterative Learning Concept (反復 學習槪念을 利용한 두 臺의 로봇의 衝突回避 軌跡計劃)

  • 정낙영;서일홍;최동훈
    • Transactions of the Korean Society of Mechanical Engineers
    • /
    • v.15 no.1
    • /
    • pp.69-77
    • /
    • 1991
  • A collision-free trajectory planning algorithm using an iterative learning concept is proposed for dual robot arms in a 3-D common workspace to accurately follow their specified paths with constant velocities. Specifically, a collision-free trajectory minimizing the trajectory error is obtained first by employing the linear programming technique. Then the total operating time is iteratively adjusted based on the maximum trajectory error of the previous iteration so that the collision-free trajectory has no deviation from the specified path and also that the operating time is near-minimal. To show the validity of the proposed algorithm, a numerical example is presented based on two planar robots.