• Title/Summary/Keyword: 로봇 아암

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A Study on the Robust Motion Control Technology of Articulated Robot Arm (다관절 로봇 아암의 강인한 모션 제어방법에 관한 연구)

  • Ha, Eon-Tae;Kim, Hyun-Geon
    • Journal of the Korean Society of Industry Convergence
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    • v.18 no.2
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    • pp.119-128
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    • 2015
  • In this paper, we propose a new motion control technology to design robust control system of industrial robot. The system modeling of robotic manipulation tasks with constraints is presented, and the control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference of robot manipulator is generated by the reference controller as a discrete state system and the control behavior of constrained system which has poor modeling information and time-invariant constraint function is improved motion control system is successfully evaluated by experiment to the desired tasks.

Development of Manipulator for Vertically Moving Multi-Joint Apple Harvesting Robot(I) -Design.Manusacturing- (수직 다관절 사과수확로봇의 매니퓰레이터 개발 (I) -설계.제작-)

  • 장익주
    • Journal of Biosystems Engineering
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    • v.25 no.5
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    • pp.399-408
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    • 2000
  • This study is final focused on developing fruit harvesting robot can distinguish fruit type and status accurately. Multi-joint robot is able to discriminate tree shape and select mature fruit by image processing. The multi-joint robot consists of (a) rotating base, (b)turning first joint-arm, (c)rotating and turning second joint-arm, (d)rotating and turning third joint-arm, (e)rotating and turning last joint and (f)picker hand. The operational ranges of the robot are: horizontal 860~2,220mm, vertical 1,440~2,260mm, 270 degrees’rotation angle, 90 or 270 degrees’turning angle. The robot weighs 330kg. The multi-joint robot was designed in high accuracy and efficiency by getting as close as the movements of human arms and waist.

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A Nonlinear Robust Control of Robot Arm with Four Joints Based on Lyapunov Stability Analysis (리아프노프 안정성 해석에 기준한 4축 로봇 아암의 비선형 견실제어)

  • Hyeon, Gi-Kwon;Shim, Hyun-Seok;Yoon, Dae-sik
    • Journal of the Korean Society of Industry Convergence
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    • v.18 no.3
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    • pp.157-166
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    • 2015
  • In this paper, we proposed a new robust control scheme to implement stable control of robot manipulators including nonlinear perameters The proposed robust controller is composed of a nonlinear controller and linear compemsation controller. It shows a good robust performance in reaching mode which does not possess invariance property. Thus, the proposed nonlinear controller showed a good robust performance in the whole region, It was illustrated that the proposed control showed a good transient response and trajectory tracking performance for robot manipulator with four joint by experiments.