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Abstract

In this paper, the authors propose a new method of easily recognizing and regenerating robot motions used for robot motion control to perform the task of painting furniture and welding parts in small scale industries. The method is based on the process of accurate modeling, control design and experimental evaluation. In this study, the models and controllers for all joints of 3DOF robot system are obtained individually. The Robust control controller is designed to cope with uncertainties, especially the effects of the added inertia moment. In the experiment, the robust control method is compared with the existing PID control method, and the results indicate that the proposed designing method is more efficient than the traditional method.



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Article Details

Issue: Vol 18 No 3 (2015)
Page No.: 183-191
Published: Aug 30, 2015
Section: Engineering and Technology - Research article
DOI: https://doi.org/10.32508/stdj.v18i3.900

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Creative Commons License

Copyright: The Authors. This is an open access article distributed under the terms of the Creative Commons Attribution License CC-BY 4.0., which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

 How to Cite
Dang, D.-C., & Kim, Y.-B. (2015). Accurate motion regeneration technique with robust control approach. Science and Technology Development Journal, 18(3), 183-191. https://doi.org/https://doi.org/10.32508/stdj.v18i3.900

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