ABSTRACT

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.

KEYWORD

Flexible Robot Arm(유연한 로봇팔), Fuzzy Controller(퍼지제어기), PID Controller(PID 제어기), End Mass(끝 지점 질량), Finite Element Model(유한요소모델), MATLAB/Simulink(시뮬링크), Simulation(모의시험)

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