Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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A Study on Performance Analysis of Articulated Robot System for Smart Factory Based on Monitoring Simulator

  • Kim, Hee Jin (Dept.of Mechanical Engineering, Graduate School, Kyungnam University) ;
  • Kim, Dong-ho (Dept.of Mechanical Engineering, Graduate School, Kyungnam University) ;
  • Jung, Kum-jun (Daewoong engineering Co.Ltd) ;
  • Han, Sung-Hyun (School of Mechanical Engineering, Kyungnam University)
  • Received : 2020.10.20
  • Accepted : 2020.11.23
  • Published : 2020.12.31
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Abstract

We describe a new approach to the analyze the control performance of robotic manipulator based on the monitoring system. The structure of monitoring simulator is consist of seven modes such as control state mode, coordinate mode, input/output mode, program mode, parameters mode, and track mode. The applied control algorithme consists of an time varying feed-forward and feedback controller. The proposed scheme is simple in structure, fast in computation, and suitable for real-time implimemtation. Moreover, this scheme does not require any accurate dynamic modeling and values of parameters. Performance of the proposed monitoring system is illustrated by simulation and experiment for robot manipulator with six degrees of freedom.

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References

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