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

한국산업융합학회 (The Korean Society of Industry Convergence)
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A Study on Track Record and Trajectory Control of Articulated Robot Based on Monitoring Simulator for Smart Factory

  • Kim, Hee-Jin (Dept.of Mechanical Engineering., Graduate School, Kyungnam University) ;
  • Dong, Guen-Han (Dept.of Mechanical Engineering., Graduate School, Kyungnam University) ;
  • Kim, Dong-Ho (Dept.of Mechanical Engineering., Graduate School, Kyungnam University) ;
  • Jang, Gi-Won (Dept.of Mechanical Engineering., Graduate School, Kyungnam University) ;
  • Han, Sung-Hyun (Dept. of Mechanical Engineering., Kyungnam Univ.)
  • 투고 : 2020.02.25
  • 심사 : 2020.04.03
  • 발행 : 2020.04.30
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초록

We describe a new approach to implement of trajectory control and track record of articulated manipulator based on monitoring simulator for smart factory. The learning control algorithm was applied in implementation real-time control to provide enhanced motion control performance for robotic manipulators. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, or values of manipulator parameters and payload. Performance of the proposed controller is illustrated by simulation and experimental results for robot manipulator consisting of six joints at the joint space and Cartesian space.by monitoring simulator.

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참고문헌

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