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A Novel Control Method to Change Motion of 3DOF Parallel Robot Immediately and Flexibly
- Authors
- Kim, H.-S.[Kim, H.-S.]; Lee, K.-H.[Lee, K.-H.]; Kuc, T.-Y.[Kuc, T.-Y.]; Yang, S.-J.[Yang, S.-J.]; Nam, K.-T.[Nam, K.-T.]
- Issue Date
- 2019
- Publisher
- IEEE Computer Society
- Keywords
- Parallel Robot; Path Follow; Real-Time Control; Robot Control; Robotics and Automation
- Citation
- International Conference on Control, Automation and Systems, v.2019-October, pp.1674 - 1678
- Indexed
- SCOPUS
- Volume
- 2019-October
- Start Page
- 1674
- End Page
- 1678
- ISSN
- 1598-7833
- Abstract
- In this paper, we propose a new control method for manipulator that allows changing motion immediately and flexible even in sudden situations. The reason is that in the future production process, human and robots will collaborate, or the robot will recognize an environment by itself. We defined linear motion and curve motion method of a 3DOF parallel robot. This control method can be controlled in real time. We simulated to verify motion and experimented with parallel robots and laser trackers. Using this control method, the adept motion experiment of the robot was performed, and the cycle time was 0.395 secs. The new control method was applied to the factory of a beverage company. © 2019 Institute of Control, Robotics and Systems - ICROS.
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Related Researcher
- KUC, TAE YONG
- Information and Communication Engineering (Electronic and Electrical Engineering)