• Title/Summary/Keyword: 로봇 아암

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Development of Manipulator for Vertically Moving Multi-Joint Apple Harvesting Robot(I) -Design.Manusacturing- (수직 다관절 사과수확로봇의 매니퓰레이터 개발 (I) -설계.제작-)

  • 장익주
    • Journal of Biosystems Engineering
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    • v.25 no.5
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    • pp.399-408
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    • 2000
  • This study is final focused on developing fruit harvesting robot can distinguish fruit type and status accurately. Multi-joint robot is able to discriminate tree shape and select mature fruit by image processing. The multi-joint robot consists of (a) rotating base, (b)turning first joint-arm, (c)rotating and turning second joint-arm, (d)rotating and turning third joint-arm, (e)rotating and turning last joint and (f)picker hand. The operational ranges of the robot are: horizontal 860~2,220mm, vertical 1,440~2,260mm, 270 degrees’rotation angle, 90 or 270 degrees’turning angle. The robot weighs 330kg. The multi-joint robot was designed in high accuracy and efficiency by getting as close as the movements of human arms and waist.

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Implementation of Real-Time Fuzzy Controller for SCARA Type Dual-Arm Robot (스카라형 이중 아암 로봇의 실시간 퍼지제어기 실현)

  • Kim Hong-Rae;Han Sung-Hyun
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.12
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    • pp.1223-1232
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    • 2004
  • We present a new technique to the design and real-time implementation of fuzzy control system basedon digital signal processors in order to improve the precision and robustness for system of industrial robot in this paper. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a Fuzzy Logic Controller, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult Self-Organizing Fuzzy Controller is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed Self-Organizing Fuzzy Controller scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

Real-Time Fuzzy Control for Dual-Arm with 8 Joints Robot Using the DSPs(TMS320C80) (DSPs(TMS320C80)을 이용한 8축 듀얼 아암 로봇의 실시간 퍼지제어)

  • 한성현;김종수
    • Transactions of the Korean Society of Machine Tool Engineers
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    • v.13 no.1
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    • pp.35-47
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    • 2004
  • In this paper presents a new approach to the design and real-time implementation of fuzzy control system based-on digital signal processors(DSP:IMS320C80) in order to improve the precision and robustness for system of industrial robot(Dual-Arm with 8 joint Robot). The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The IMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller(SOFC) for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a FLC(Fuzzy Logic Controller), one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult SOFC is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed SOFC scheme is simple in structure, Int in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

A Study on the Robust Motion Control Technology of Articulated Robot Arm (다관절 로봇 아암의 강인한 모션 제어방법에 관한 연구)

  • Ha, Eon-Tae;Kim, Hyun-Geon
    • Journal of the Korean Society of Industry Convergence
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    • v.18 no.2
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    • pp.119-128
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    • 2015
  • In this paper, we propose a new motion control technology to design robust control system of industrial robot. The system modeling of robotic manipulation tasks with constraints is presented, and the control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference of robot manipulator is generated by the reference controller as a discrete state system and the control behavior of constrained system which has poor modeling information and time-invariant constraint function is improved motion control system is successfully evaluated by experiment to the desired tasks.

A Nonlinear Robust Control of Robot Arm with Four Joints Based on Lyapunov Stability Analysis (리아프노프 안정성 해석에 기준한 4축 로봇 아암의 비선형 견실제어)

  • Hyeon, Gi-Kwon;Shim, Hyun-Seok;Yoon, Dae-sik
    • Journal of the Korean Society of Industry Convergence
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    • v.18 no.3
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    • pp.157-166
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    • 2015
  • In this paper, we proposed a new robust control scheme to implement stable control of robot manipulators including nonlinear perameters The proposed robust controller is composed of a nonlinear controller and linear compemsation controller. It shows a good robust performance in reaching mode which does not possess invariance property. Thus, the proposed nonlinear controller showed a good robust performance in the whole region, It was illustrated that the proposed control showed a good transient response and trajectory tracking performance for robot manipulator with four joint by experiments.

Design of Fuzzy Control System for Dual-Arm robot Based-on TMS320C40 (TMS320C40를 이용한 이중아암 로봇의 퍼지제어 시스템 설계)

  • 김종수;정동연;한성현
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 2002.10a
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    • pp.241-249
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    • 2002
  • In this paper, a self-organizing fuzzy controller(SOFC) for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy login composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with tow joints.

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A Study on an Intelligent Control of Manufacturing with Dual Arm Robot Based on Neural Network for Smart Factory Implementation (스마트팩토리 실현을 위한 뉴럴네트워크 기반 이중 아암을 갖는 제조용 로봇의 지능제어에 관한 연구)

  • Jung, Kum Jun;Kim, Dong Ho;Kim, Hee Jin;Jang, Gi Wong;Han, Sung Hyun
    • Journal of the Korean Society of Industry Convergence
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    • v.24 no.3
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    • pp.351-361
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    • 2021
  • This study proposes an intelligent control of manufacturing robot with dual arm based on neural network for smart factory implementation. In the control method of robot system, the perspectron structure of single layer based on neural network is useful for simple computation. However, the limitations of computation are emerging in areas that require complex computations. To overcome limitation of complex parameters computation a new intelligent control technology is proposed in this study. The performance is illustrated by simulation and experiments for manufacturing robot dual arm robot with eight axes.

A Study on Kinematics Analysis and Motion Control of Humanoid Robot Arm with Eight Joints (휴머노이드 로봇 관절 아암의 운동학적 해석 및 모션제어에 관한 연구)

  • Jung, Yang-Geun;Lim, O-Duek;Kim, Min-Seong;Do, Ki-Hoon;Han, Sung-Hyun
    • Journal of the Korean Society of Industry Convergence
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    • v.20 no.1
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    • pp.49-55
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    • 2017
  • This study proposes a new approach to Control and trajectory generation of a 8 DOF human robot arm with computational complexity and singularity problem. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of research, we propose an analytical kinematics algorithm for a 8 DOF bipped dual robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regarding to the end-effector pose. Performance of the proposed algorithm was verified by simulation test with various conditions. It has been verified that the trajectory planning using this algorithm.