서지주요정보
로보트를 이용한 이동조립공정에서 조립부품 추적성능에 관한 연구 = Design of a part tracking controller for robotic assembly in an in-line contiunous transfer system
서명 / 저자 로보트를 이용한 이동조립공정에서 조립부품 추적성능에 관한 연구 = Design of a part tracking controller for robotic assembly in an in-line contiunous transfer system / 최현영.
저자명 최현영 ; Choi, Hyun-Young
발행사항 [대전 : 한국과학기술원, 1990].
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소장정보

등록번호

8000600

소장위치/청구기호

학술문화관(문화관) 보존서고

MPE 9027

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

Up to now, most robotic applications on assembly works have been accomplished under static condition. In that case, since it consists of two separate phases; assembly and transfer, the assembly task requires rat her long insertion time. Therefore, in order to reduce the task time, "DRAS(Dynamic Robotic Assembly System)" is proposed in which assembly and transfer are performed simultaneously. One of the major problems in designing such a system is to minimize the relative position and velocity errors between the end effector of a robot and a moving part. In this thesis, a part tracking controller for DRAS is synthesized and the tracking performance is investigated through a series of experiments and simulations. Also the motion characteristics of the major components of which the DRAS consists are measured and discussed for analysis of the experimental data and the tracking controller design. In measurement of motion characteristics, a laser interferrometer is used and the experimental results show that the motion of industrial robot contains some fluctuations around the nominal trajectory. As a tracking controller, an optimal feedback plus feedforward controller is adaopted. The optimal controller is used for gain tuning of feedback controller. And the feedforward controller used for faster synchronization adaopts an observer which estimates unknown target velocity. From the results of experiment and simulation, it can be concluded that the feedforward controller adopted is very effective for faster synchronization. It can also be concluded that in DRAS the tracking system must follow low frequency term of target motion as possible, while the high frequency term must be compensated by active or passive assembly tool.

서지기타정보

서지기타정보
청구기호 {MPE 9027
형태사항 [v], 67 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Hyun-Young Choi
지도교수의 한글표기 : 조형석
공동교수의 한글표기 : 곽윤근
지도교수의 영문표기 : Hyung-Suck Cho
공동교수의 영문표기 : Yoon-Keun Kwak
학위논문 학위논문(석사) - 한국과학기술원 : 생산공학과,
서지주기 참고문헌 : p. 38-40
주제 Assembly machines.
Robots --Control systems.
Robots --Motion.
Feedforward control systems.
조립 로봇. --과학기술용어시소러스
피드포워드 제어. --과학기술용어시소러스
추적 시스템. --과학기술용어시소러스
속도 제어. --과학기술용어시소러스
Automatic tracking.
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