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
- 학술저널
- 저자정보
- 발행연도
- 2024.7
- 수록면
- 740 - 749 (10page)
- DOI
- 10.5302/J.ICROS.2024.24.0077
이용수
초록· 키워드
오류제보하기
Painting operations on ships present significant challenges and risks, highlighting the requirement for developing robotic systems that enhance the safety and precision of these operations. This study introduces an adaptive robust control scheme for wall-climbing robots designed for ship painting applications; this design integrates an intelligent proportional-integral- derivative (PID) controller with a radial basis function neural network. The proposed system overcomes the limitations of traditional PID controllers by effectively estimating complex nonlinear dynamics and uncertainties using time-delay information. Furthermore, the accuracy of path-tracking tasks is improved by compensating for errors in time-delay estimation using a neural network. Additionally, the stability of the control system is proven using a Lyapunov-based analytical method. The simulation is highly reliable because it used models that closely resemble actual ship-painting robots. The proposed controller achieves higher tracking performance than traditional PID controllers. The implications of this study extend beyond ship-painting automation, offering insights into other industrial domains in which the use of high-precision robotic systems is paramount.
목차
Abstract
I. 서론
II. 선박 도장 로봇 모델링
III. 선박 도장 로봇 제어기
IV. 시뮬레이션
V. 결론
REFERENCES
참고문헌 (36)
참고문헌 신청
S. Li and A. D. Calderon, “Review of the current research status and constraints of wall-climbing robots,” 2023 6th International Conference on Robotics, Control and Automation Engineering(RCAE), IEEE, pp. 44-49, Nov. 2023. doi: https://doi.org/10.1109/RCAE59706.2023.10398765
Y. Fang, S. Wang, Q. Bi, D. Cui and C. Yan, “Design and technical development of wall-climbing robots: A review,” Journal of Bionic Engineering, vol. 19, no. 4, pp. 877-901, Jun. 2022. doi: https://doi.org/10.1007/s42235-022-00189-x
S. K. Mahmood, S. H. Bakhy, and M. A. Tawfik, “Propeller-type wall-climbing robots: A review,” IOP Conference Series: Materials Science and Engineering, vol. 1094, no. 1, IOP Publishing, 2021. doi: https://doi.org/10.1088/1757-899X/1094/1/012106
J. Liu, L. Xu, T. Li, S. Chen, H. Xu, G. Cheng and M. Ceccarelli, “Design, modeling and experimentation of a biomimetic wall-climbing robot for multiple surfaces,” Journal of Bionic Engineering, vol. 17, pp. 523-538, May. 2020. doi: https://doi.org/10.1007/s42235-020-0042-3
Y. H. Liu, B. D. Lim, J. W. Lee, J. H. Park and T. G. Kim, “Steerable dry-adhesive linkage-type wall-climbing robot,” Mechanism and Machine Theory, vol. 153, Nov. 2020. doi: https://doi.org/10.1016/j.mechmachtheory.2020.103987
Y. Fang, S. Wang, Q. Bi, D. Cui and C. Yan, “Design and technical development of wall-climbing robots: A review,” Journal of Bionic Engineering, vol. 19, no. 4, pp. 877-901, Jun. 2022. doi: https://doi.org/10.1007/s42235-022-00189-x
S. K. Mahmood, S. H. Bakhy, and M. A. Tawfik, “Propeller-type wall-climbing robots: A review,” IOP Conference Series: Materials Science and Engineering, vol. 1094, no. 1, IOP Publishing, 2021. doi: https://doi.org/10.1088/1757-899X/1094/1/012106
J. Liu, L. Xu, T. Li, S. Chen, H. Xu, G. Cheng and M. Ceccarelli, “Design, modeling and experimentation of a biomimetic wall-climbing robot for multiple surfaces,” Journal of Bionic Engineering, vol. 17, pp. 523-538, May. 2020. doi: https://doi.org/10.1007/s42235-020-0042-3
Y. H. Liu, B. D. Lim, J. W. Lee, J. H. Park and T. G. Kim, “Steerable dry-adhesive linkage-type wall-climbing robot,” Mechanism and Machine Theory, vol. 153, Nov. 2020. doi: https://doi.org/10.1016/j.mechmachtheory.2020.103987
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