지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2022.11
- 수록면
- 518 - 522 (5page)
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초록· 키워드
오류제보하기
Much of the polishing work is done manually by skilled workers. It is not easy to teach robots to perform the detailed work of theirs and to configure and operate an appropriate control system to achieve this, and automation of this process has been delayed. Polishing is performed by pressing a rotating tool against the workpiece to be machined. To achieve this motion, PID control is used in the controllers of many robots. However, to determine the appropriate control gain, it is necessary to repeatedly adjust the control gain according to the processing target and processing conditions. The purpose of this research is to introduce Model Predictive Control (MPC) as a new control system for polishing robots. MPC is a control that predicts control output using a model of the control target. Therefore, we considered the target force value could be achieved without changing the MPC parameters when the force condition, a machining condition, is changed. In this paper, control block diagrams were created in MATLAB Simulink to apply MPC. The block diagram was then mounted on the actual machine to check whether it could be pressed with appropriate force, and the differences from PID were evaluated.
목차
Abstract
1. INTRODUCTION
2. DESCRIPTION OF POLISHING ROBOTS
3. DIFFERENCE BETWEEN PID CONTROL AND MPC IN POLISHING ROBOTS
4. CONFIGURATION OF MPC FOR APPLICATION TO ROBOT SYSTEM
5. STUDY OF APPLICATION TO ACTUAL EQUIPMENT, RESULTS AND CONSIDERATIONS
6. COMPARISON OF EXPERIMENTAL RESULTS BETWEEN PID AND MPC
7. CONCLUSION
REFERENCES
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