• Title/Summary/Keyword: Design and modeling of Robot arm

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Vibration Control of a Flexible Fobot Manipulator (유연한 로봇팔의 진동제어)

  • 신효필;윤여산;강이석
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.229-232
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    • 1996
  • The position control accuracy of the robot arm is decreased significantly when a long arm robot is operated at high speed. In this case, the robot arm must be modeled as a flexible structure, not a rigid one, and its control system will be necessarily designed with its elastic modes taken into account. In this paper, the vibration control of a one-link flexible robot arm is presented. The robot system consists of a flexible arm manufactured with thin aluminium plate, AC servomotor with a harmonic drive for speed reduction, optical encoder and accelerometer. The system is modeled with limited number of elastic modes, and its parameters are determined from the results of the experiments. The implemented control schemes are LQ control and sliding mode control. The experiments and digital simulations are carried out to test the validity of the system modeling, controller design, and active control implementation.

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A study on deburring task of robot arm using neural network (신경망을 이용한 ROBOT ARM의 디버링(Deburring) 작업에 관한 연구)

  • 주진화;이경문;이장명
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.139-142
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    • 1996
  • This paper presents a method of controlling contact force for deburring tasks. The cope with the nonlinearities and time-varying properties of the robot and the environment, a neural network control theory is applied to design the contact force control system. We show that the contact force between the hand and the contacting surface can be controlled by adjusting the command velocity of a robot hand, which is accomplished by the modeling of a robot and the environment as Mass-Spring-Damper system. Simulation results are shown.

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Robot Motion Regeneration based on Independent Arm Control System Design Method

  • Tran, Manh-Son;Han, Kyu-Il;Kim, Young-Bok
    • Journal of Power System Engineering
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    • v.21 no.1
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    • pp.30-36
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    • 2017
  • 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.

Dynamic Mode Control of Flexible Robotic Arm (유연한 로보트 팔의 동적 모우드 제어)

  • 박세승;박종국
    • Journal of the Korean Institute of Telematics and Electronics B
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    • v.30B no.9
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    • pp.36-44
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    • 1993
  • In the development of a high speed and light weight manipulator, it is necessary to consider the flexibility of a robotic arm. The infinite dynamics must be analyzed to obtain the finite mode modeling to achieve the feasible controller design of the robotic arm. The modeling procedures of the flexible robot arm, and natural frequencies and mode shapes by the constrained and unconstrained mode method are illustrated. The transfer function of the robot arm with a payload is also shown. The controller is designed by the pole assignment and optimal control theory to compensate for the unmodelled dynamic effects to the low order system. Also, the pole assignment method involving the harmonic vibration mode is presented through computer simulation.

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Design of a Adaptive Controller of Industrial Robot with Eight Joint Based on Digital Signal Processor

  • Han, Sung-Hyun;Jung, Dong-Yean;Kim, Hong-Rae
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.741-746
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    • 2004
  • We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

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A Robust Adaptive Control of Robot Manipulator Based on TMS320C80

  • Han, Sung-Hyun;Jung, Dong-Yean;Shin, Heang-Bong
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.2540-2545
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    • 2003
  • We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

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Robust Controller Design for Flexible Robot Arm Manipulator (유연한 로봇팔의 선단 위치 제어를 위한 강인한 제어기의 설계)

  • 신봉철;이형기;최연욱;안영주
    • Journal of the Institute of Convergence Signal Processing
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    • v.3 no.2
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    • pp.76-82
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    • 2002
  • The objective of this paper is to design a robust controller for a flexible robot arm manipulator using LMI(Linear Matrix Inequality) theory, and confirm its effectiveness through experimentation. We first describe a modeling Process of the flexible arm in order to get a mathematical model, and then discuss how to approximately obtain the uncertainty of the model for robust control. As to the control system design, we adopt the LMI-based H$_{\infty}$ synthesis algorithm which has the merits of eliminating the regularity restrictions attached to the Riccati-based methods. As a result of this, we can cope with the parameter variation (that is, modeling uncertainty) due to the tip-load variation. Finally we confirm the effectiveness of the controller through experiment and simulation.

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Integrated SolidWorks & Simscape Platform for the Model-Based Control Algorithms of Robot Manipulators

  • Ahn, Doo-Sung
    • Journal of Power System Engineering
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    • v.18 no.4
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    • pp.91-96
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    • 2014
  • The application of the recent model-based control schemes for robot manipulators require the solution of problems concerning various aspects, from the mechanical design to the necessity of determining a robot model suitable for control, and of experimentally testing the control performances. For one solution, integration of SolidWorks with Simscape for designing and controlling robot manipulators is presented in this paper. The integration provides a platform for rapid control prototyping of robot manipulators without the need for building real prototypes. Mechanical drawings of a robot are first created using Solidworks and imported into the Simscape, where a robot is represented by connected block diagrams based on the principle of physical modeling. Simulation examples for 7-DOF SAM ARM made by Berrett Technology Inc. are testified to show effectiveness of the presented platform.

A study on the Development of Fusion Education Attempting to Utilize 3D Printing for the Fabrication and Control of Robot Arms (3D 프린터를 활용한 로봇 팔의 제작과 제어를 위해 시도한 융합 교육의 발전 방안 연구)

  • Eum-young Chang;Hyung-jin Yu
    • Journal of Practical Engineering Education
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    • v.16 no.2
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    • pp.121-128
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    • 2024
  • This study introduces specializer high school students , as a fusion education method using Inventor software to design a robot arm, which is then 3D printed and controlled by an Arduino microcontroller. Students gain practical experience and have the opportunity to integrate knowledge and skills from various academic fields. They start by designing in CAD software, proceed to fabricate actual robot arm components using 3D printing technology, and finally program and control the assembled robot arm. This interdisciplinary education enhances students' problem-solving abilities, fosters creativity, and increases their motivation to learn. To implement such educational endeavors in actual curricula, ongoing teacher support and appropriate resources are essential. This research serves as a foundational exploration of the applicability of fusion education in future learning contexts.

Design of Fuzzy Controller for Vision-based Arm Robot (비전기반 암 로봇의 퍼지제어기 설계)

  • Shin, Hwa-Young;Kim, Young-Joong;Lim, Myo-Taeg
    • Proceedings of the KIEE Conference
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    • 2002.11c
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    • pp.485-488
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    • 2002
  • In this paper, fuzzy logic controllers are designed for compensation of distance errors. Because we can't know information of the depth in a mono camera, these errors are occurred. Also, they are increased as a target object is to keep away from a center of image. Therefore, the errors for each position of joints of an arm robot should be modeled, but accurate models can't be obtained because of no information of the depth, uncertain feature points of image, parameter uncertainties, and illumination. Hence, fuzzy logic controllers for each error are designed for compensation. This paper consists of color image processing, error modeling, and the controller design. Experimental results are given to verify the effectiveness of our proposed method.

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