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 Robot Manipulator with Eight Joints Based on Monitoring Simulator for Smart Factory

  • Kim, Hee-jin (Dept. of Mechanical Engineering., Graduate School, Kyungnam University) ;
  • Jang, Gi-won (Dept. of Mechanical Engineering., Graduate School, Kyungnam University) ;
  • Kim, Dong-ho (Dept. of Mechanical Engineering., Graduate School, Kyungnam University) ;
  • Han, Sung-hyun (Dept. of Mechanical Engineering., Kyungnam Univ.)
  • 투고 : 2020.06.22
  • 심사 : 2020.07.17
  • 발행 : 2020.08.31
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초록

We describe a new approach to real-time implementation of track record and trajectory control of robotic manipulator with eight joints based on monitoring simulator. Trajectory generator uses the kinematic equations of the arm to convert the task description into a series of set points for each of the joint control loops, while the joint controllers, with simple algorithms for just one joint can move at a fast sampling rate, guaranteeing a smooth motion. The proposed control scheme is robust, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate parameter information, nor values of manipulator parameters and payload. Reliability of the proposed technology is veriefied by monitoring simulation and experimental of robot manipulator for the smart factory with eight degrees of freedom.

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참고문헌

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