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

  • 제12권11호
  • /
  • Pages.1088-1094
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  • 2006
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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3축 그라인딩 로봇을 이용한 자동 경로 생성 및 능동 컴플라이언스 힘 제어

Auto Path Generation and Active Compliance Force Control Using 3-axis Grinding Robot

  • 추정훈 (대우조선해양(주) 자동화연구소) ;
  • 김수호 (대우조선해양(주) 자동화연구소) ;
  • 이상범 (대우조선해양(주) 자동화연구소) ;
  • 김정민 (대우조선해양(주) 자동화연구소)
  • 발행 : 2006.11.01
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초록

In this paper, an auto path generation and an active compliance grinding control using 3-axis farce sensor are presented. These control algorithms enable the grinding robot to follow unknown path of various workpiece shape pattern. The robot is able to go grinding along unknown paths by position controller managing tangential direction angle and cutting speed, with only information about the start position and the end position. Magnitude and direction of normal force are calculated using force data that go through low pass filter. Moreover, normal and tangential directions are separated for force control and velocity control, respectively.

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참고문헌

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