비례 및 미분 제어 이득계수 변화기법을 이용한 수직형 3축로봇팔의 위치제어기 설계 및 제작

In this paper, we introduce an industrial three degree of freedom manipulator which loads/unloads various freight on an AGV(automated Guided Vehicle). We design and implement the industrial controller for the manipulator with P-I) gain variation method. Since this battery-powered manipulator is opten driven in an instufficient power condition, the gravity effects on the robot joints can be a significant problem. The objectives of this paper are twofold : the presentation of a PI)-controller which can compensate the gravity effects, and the design and implementation of an industrial three degree of freedom manipulator for loading/unloading.