스카라 로봇의 속도제어를 위한 지능제어 알고리즘 개발

다국어 초록 (Multilingual Abstract)

We propose a new technique to the development of Intelligent control algorithm based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Intelligent control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, 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 variable of the controller, In the synthesis, 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 scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance is illustrated by simulation and experimental results for SCARA robot.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 지능 제어 알고리즘 개발
• 3. 성능 실험
• 4. 결론
• 참고문헌