JOURNAL BROWSE
Search
Advanced SearchSearch Tips
A Study on Kinematics and Dynamics Analysis of Vertical Articulated Robot with 6 axies for Forging Process Automation in High Temperatures Environments
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
A Study on Kinematics and Dynamics Analysis of Vertical Articulated Robot with 6 axies for Forging Process Automation in High Temperatures Environments
Jo, Sang-Young; Kim, Min-Seong; Koo, Young-Mok; Won, Jong-Beom; Kang, Jeong-Seok; Han, Sung-Hyun;
  PDF(new window)
 Abstract
In general, articulated robot control technology is limited to the design of robot arm control systems considering each joint of the robot joint as a simple servomechanism. This method describes the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. The changes of the parameters in the controlled system are significant enough to render conventional feedback control strategies ineffective. This basic control system enables a manipulator to perform simple positioning tasks such as in the pock and place operation. However, joint controllers are severely limited in precise tracking of fast trajectories and sustaining desirable dynamic performance for variations of payload and parameter uncertainties. In many servo control applications the linear control scheme proposes unsatisfactory, therefore, a need for nonlinear techniques that increasing. for Forging process automation.
 Keywords
Force/Torque Analysis;Dynamic;Vertical Articulated Robot;Forging;
 Language
Korean
 Cited by
 References
1.
D. B. Westmore and W. J. Wilson, 1991, "Direct Dynamic Control of a Robot Using and End-Point Mounted Camera and Kalman Filter Position Estimation", Proc. IEEE Int. Conf. Robotics and Automation, pp. 2376-2384.

2.
T.C. Hasi, "Adaptive Control Scheme for Robot Manipulators-A Review," In Proceeding of the 1987 IEEE Conference on Robotics and Automation, San Fransisco, CA, 1986.

3.
D. Koditschek, "Quadratic Lyapunov Functions for Mecanical Systems," Technical Report No. 8703, Yale University, New Haven, CT, 1983.

4.
J. J. Craig, "Adaptive Control of Meduanical Manipulator," Addison-wesley, 1988.

5.
H. Berghuis, R.Orbega, and H.Nijmeijer, "A Robust Adaptive Robot controller," IEEE Trans., Robotics and Automation, Vol. 9, No. 6, pp. 825-830, 1993. crossref(new window)

6.
A. Koivo and T. H. Guo, "Adaptive Linear Controller for Robot Manipulators." IEEE Transactions and Automatic Control, Vol. AC-28, pp. 162-171, 1983.

7.
R. Ortega and M.W. Spong, "Adaptive Motion Control of Rigid Robots: A Tutorial," Automatica, Vol. 25, pp. 877-888, 1989. crossref(new window)

8.
P. Tomei, "Adaptive PD Controller for Robot Manipulators," IEEE Trans. Robotics and Automation, Vol.7, No.4, Aug, 1991.

9.
S. Nicosia and P. Tomee, "Model Reference Adaptive Control Algorithm for Imdustrial Robots," Automatica, Vol. 20, No. 5, pp. 635-644, 1984. crossref(new window)

10.
N. Sadegh and R. Horowitz, "An Exponentially Stable Adaptive Control Law for Robot Manipulators," IEEE Trans. Robotics and Automation, Vol. 9, No. 4, Aug, 1990.

11.
Z. Ma, J. shen, A. Hug, and K. Nakayama, "Automatic optimum Order Assignment in Adaptive Filters," International conference on signal Processing Applications & Technology, Boston pp. 629-633, Oct, 1995.