Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Dynamic control approach of a robot manipulator for line-tracking applications

선추적 시스템을 위한 로봇매니퓰레이터의 동적제어

  • Park, Tae-Hyeong (Dept. of Electrical Elecronic Engineering, Chungbuk National University)
  • 박태형 (충북대학교 전기전자공학부)
  • Published : 1998.06.01
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Abstract

A robot control scheme for specific application a line-tracking system is newly presented. To improve the performance of line-tracking, robot arm dynamics and torque constraints are incorporated into the control scheme. The tracking problem for the workpiece on a variable-speed conveyor is formulated as an optimal tracking problem with specific criteria. Dividing the conveyor speed into the nominal term and the perturbed term, a two-stage control strategy is employed to cope with the nonlinearity and uncertainty of the robot-conveyor system. Simulation results are given to verify good tracking performance with fast cycle time and high accuracy in a robotic workcell.

Keywords

References

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