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갠트리 로봇의 고속/고정밀 이송을 위한 모션분석 및 앞섬필터 설계
김진대(Jin-Dae Kim),조지승(Che-Seung Cho),이혁진(Hyuk-Jin Lee),신찬배(Chan-Bai Shin),박철휴(Chul-Hu Park) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.1
Recently gantry-type robot with 3 axes rectangular coordinates have been studied in the many industrial production equipment and machinery fields. To acquire a good handling and motion performance of this robot, reducing the settling-time and securing the accurate-transfer positioning under high-speed conditions should be required. However when robot is moved in high-speed, the large inertia of robot can lead to serious vibration of robot"s head. The time-delayed control characteristics of this robot can also lead to tracking error. In this research, the analysis of the effects of higher order positional-profile is carried out to assure high-speed performance and stiffness specifications. To remove the residual vibration caused by kinematic coupling effect of dual-servo gantry, we develop a dual-servo gantry of rotary type that moving frame of x-axis rotates about z-axis. In order to decrease the tracking error, the 3 type lead-filter through system identification was applied respectively. From the experimental results, it was shown that zero-order series leader-filter has the best performance about tracking error and settling time.
칼만필터를 이용한 4축 X-Y-Z-T(Yaw) 주탕로봇의 유연한 주입동작 속도제어 연구
김진대(Jin-Dae Kim),이상화(Snag-Hwa Lee),김병수(Byeong-Soo Kim),이인태(In-Tea Lee),성민규(Min-Kyu Sung) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.1
Recently, a 4-axes robot with XYZ translational and T axis yaw-rotational mechanism have been studied in the casting process. The motion of a pouring-cup attached in the robot"s end-effector should be considered to smoothly pour the melted-iron into the mold. Reducing the residual vibration or kinematic error of this pouring-cup, the robust velocity controller of Y and Z translational axes, orthogonal to the T yaw-axis, is studied to keep the same position of the pouring-cup"s TCP under its constant angular speed condition. However, the proportional velocity controller typically used in industry can lead to overshoot response in transient. The inflection point of velocity caused by very little movement of the Y-axis or Z-axis, or time delay, can also lead to mechanical vibration of the pouring-cup"s head. In this research, to decrease the overshoot response and residual vibration of the pouring-cup"s TCP, the velocity estimator based on the Kalman filter was applied. The field experiment was carried out with two types of velocity controllers. From the experimental comparison, it was shown that the velocity controller with the Kalman filter displays good performance to reduce the kinematic error and vibration of the pouring-cup.