지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering Vol.39 No.3
- 발행연도
- 2022.3
- 수록면
- 179 - 185 (7page)
- DOI
- 10.7736/JKSPE.021.116
이용수
초록· 키워드
오류제보하기
Transfer robots for large-sized panels used in the display industry need to compensate for path error and reduce vibration. The iterative learning control (ILC) technique can simply compensate for the uncertainty of a control system in a repetitive motion. This study introduces an ILC compensation system applied with an accelerometer to a display panel transfer robot control system. The ILC technique was used to reduce the path error and vibration induced the flexibility of the large size robot. This method was applied to a robot system without the system model of the mechanical and measurement elements. To improve the iterative learning performance through the accelerometer, the ILC is configured by applying an acceleration element and time shift method to the PD-Offline ILC algorithm. In addition, based on the characteristics of repetitive motion, the ILC derives an acceleration data-based position estimation value. In this study, the ILC system and a large-sized panel transfer robot were implemented in MATLAB-Simulink with RECURDYN. The path errors and vibration level of the robot with a suggested ILC of 20 repeated learnings were reduced by more than 90%.
목차
1. 서론
2. 시스템 구성 및 모델링
3. 실험 및 시뮬레이션 분석 결과
4. 결론
REFERENCES
참고문헌 (8)
참고문헌 신청
Feng, Y., Qu, D., Xu, F., Wang, H., & Su, X., (2011). Analysis and compensation for the dynamic error of the FPD glass substrates transfer robot. In the IEEE International Conference on Robotics and Automation, 1-3. http://doi.org/10.1109/ICRA.2011.5980591
Hwang, J. C., Seo, J. H., Choi, Y. W., & Yim, H. J., (2008). Error compensation of a large scale LCD glass transfer robot. In the 17th World Congress the International Federation of Automatic Control, 6-11.
Seo, J.-H., Hwang, J.-C., Choi, Y.-W., & Yim, H.-J., (2009). Analysis and design study of LCD transfer robot using dynamic simulation and experiment. Journal of Mechanical Science and Technology, 23(4), 1035-1039. https://doi.org/10.1007/s12206-009-0336-1
Tsai, C.-S., Chen, W., Yun, D., & Tomizuka, M., (2013). Iterative learning control for vibration reduction in industrial robots with link flexibility. In the American Control Conference, 5195-5200. https://doi.org/10.1109/ACC.2013.6580646
Yeon, J. S., Park, J. H., Son, S.-W., & Lee, S.-H., (2009). Modelbased iterative learning control for industrial robot manipulators. In the IEEE International Conference on Automation and Logistics, 24-28. https://doi.org/10.1109/ICAL.2009.5262986
Hwang, J. C., Seo, J. H., Choi, Y. W., & Yim, H. J., (2008). Error compensation of a large scale LCD glass transfer robot. In the 17th World Congress the International Federation of Automatic Control, 6-11.
Seo, J.-H., Hwang, J.-C., Choi, Y.-W., & Yim, H.-J., (2009). Analysis and design study of LCD transfer robot using dynamic simulation and experiment. Journal of Mechanical Science and Technology, 23(4), 1035-1039. https://doi.org/10.1007/s12206-009-0336-1
Tsai, C.-S., Chen, W., Yun, D., & Tomizuka, M., (2013). Iterative learning control for vibration reduction in industrial robots with link flexibility. In the American Control Conference, 5195-5200. https://doi.org/10.1109/ACC.2013.6580646
Yeon, J. S., Park, J. H., Son, S.-W., & Lee, S.-H., (2009). Modelbased iterative learning control for industrial robot manipulators. In the IEEE International Conference on Automation and Logistics, 24-28. https://doi.org/10.1109/ICAL.2009.5262986
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