제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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- Pages.135-139
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- 1992
External Force Control for Two Dimensional Contour Following ; Part 2. Analysis and Implementation of Analysis Control
- Park, Young-Chil (Control R/D Team, Production Engineering Division Consumer Electronics Business, Samsung electronics Suwon City, Kyungki-Do, Korea, 441-742) ;
- Kim, Sungkwun (Control R/D Team, Production Engineering Division Consumer Electronics Business, Samsung electronics Suwon City, Kyungki-Do, Korea, 441-742)
- 발행 : 1992.10.01
초록
Control of tool-environment interaction force to comply the robot system to an environment is of vital in many automated process. This paper presents the implementation of an adaptive force control with commercial robot system in two dimensional contour following task. A model reference adaptive control system, combined with the linear compensators, is implemented. That is, a use of adaptive control is to provide an auxiliary control system so that the contour following performance can be improved from that of using linear control system only. Hyperstability is used to derive the adaptive control law. Experimental verification of the proposed control system is obtained using PUMA 560 robot system. Data obtained experimentally shows that the use of additional adaptive control system improves the contour following performance about 30% in RMS contact force errors upon that of the system controlled by the linear compensators only.
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