통합 모션 제어기를 포함한 능동형 제조용 로봇 시스템 개발

Abstract

This thesis deals with active industrial robotic system using integrated motion controller based on position-force cooperative control and its application to robotic assembly automation. Conventional industrial robotic system with position based controller is not good at carrying out constrained motion for complex assembly process like to auto brake caliper assembly. In this application, robotic system is necessary to control position-force cooperative motion to consider all parts of a robot task – free motion, constrained motion and the transition between them. In this thesis, active industrial robotic system with integrated motion controller based on position-force cooperative control algorithm is suggested. position-force cooperative control based robotic system can be manipulated by integrated robotic motion controller on all pares of a robot task. To design position-force cooperative control algorithm, robot manipulator dynamic analysis carried out and position controller using TDC(time delay control) is designed to compensate non-linear robot dynamic term. TDC based position controller is designed and SR-inverse algorithm and impedance control algorithm is added on consequently. Finally to verify suggested control algorithm is carried out simulation analysis. The control performances are verified though contact obstacle experiments using 6-DOF robot manipulator operated on the position-force cooperative control based robotic motion controller. Position-force cooperative control algorithm is applied on grip force control of the designed robotic gripper system with 1-DOF force sensor. And the active industrial robotic system consist on position-force cooperative control based robotic motion controller and robotic gripper and robot manipulator with 6-DOF force/torque sensor. The practical experiments is carried out through the auto brake caliper assembly task with active industrial robotic system.