PID제어기와 퍼지제어기를 이용한 유연한 로봇팔 끝 지점 위치와 진동제어에 관한 연구

서지정보

ㆍ발행기관 : 한국기계기술학회 ㆍ수록지정보 : 한국기계기술학회지 / 18권 / 4호
ㆍ저자명 : 이현철, 김성철, 오재윤

영어 초록

Recently, a study on reducing the weight of the robot arm, which enables a high-speed operation and enables reducing the energy consumption has been actively carried out. A lightweight robot arm is hard to control because it behaves like a flexible body rather than a rigid body. This paper proposes a controller which combines a PID controller and a fuzzy logic controller for control the position and vibration of the flexible robot arm. In order to show the effectiveness of the proposed controller, MSC.ADAMS computational model which incorporates the finite element flexible robot arm model is developed, and is used for performing simulations. Simulations are carried out with two reference inputs, and three end masses. Simulation results show that the proposed controller controls the position and vibration of the flexible robot arm adaptively without being affected by the reference input and the end mass.

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