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논문 기본 정보
- 자료유형
- 학위논문
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- 지도교수
- 정원지
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- 2014
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이 논문의 연구 히스토리 (6)
2013
2012
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This paper presents a Study on LabVIEW?-based Hybrid Motion Blending for a 6-axis Articulated Robot.
For fast and accurate motion of 6-axis articulated robot, more noble motion control strategy is needed. In general, the movement strategy of industrial robots can be divided into two kinds, PTP (Point to Point) and CP (Continuous Path). Recently, industrial robots which should be co-worked with machine tools are increasingly needed for performing various jobs, as well as simple handling or welding. Therefore, in order to cope with high-speed handling of the cooperation of industrial robots with machine tools or other devices, CP should be implemented so as to reduce vibration and noise, as well as decreasing operation time. This paper will realize CP motion (especially joint-linear) blending in 3-dimensional space for a 6-axis articulated (lab-manufactured) robot (called as “RS2”) by using LabVIEW? [6] programming, based on a parametric interpolation. Another small contribution of this paper is the proposal of motion blending simulation technique based on Recurdyn? V7 and Solidworks?, in order to figure out whether the joint-linear blending motion can generate the stable motion of robot in the sense of velocity magnitude at the end-effector of robot or not. In order to evaluate the performance of joint-linear motion blending, simple PTP (i.e., linear-linear) is also physically implemented on RS2. The implementation results of joint-linear motion blending and PTP are compared in terms of vibration magnitude and travel time by using the vibration testing equipment of Medallion of Zonic?. It can be confirmed verified that the vibration peak of joint-linear motion blending has been reduced to 1/10, compared to that of PTP.
For fast and accurate motion of 6-axis articulated robot, more noble motion control strategy is needed. In general, the movement strategy of industrial robots can be divided into two kinds, PTP (Point to Point) and CP (Continuous Path). Recently, industrial robots which should be co-worked with machine tools are increasingly needed for performing various jobs, as well as simple handling or welding. Therefore, in order to cope with high-speed handling of the cooperation of industrial robots with machine tools or other devices, CP should be implemented so as to reduce vibration and noise, as well as decreasing operation time. This paper will realize CP motion (especially joint-linear) blending in 3-dimensional space for a 6-axis articulated (lab-manufactured) robot (called as “RS2”) by using LabVIEW? [6] programming, based on a parametric interpolation. Another small contribution of this paper is the proposal of motion blending simulation technique based on Recurdyn? V7 and Solidworks?, in order to figure out whether the joint-linear blending motion can generate the stable motion of robot in the sense of velocity magnitude at the end-effector of robot or not. In order to evaluate the performance of joint-linear motion blending, simple PTP (i.e., linear-linear) is also physically implemented on RS2. The implementation results of joint-linear motion blending and PTP are compared in terms of vibration magnitude and travel time by using the vibration testing equipment of Medallion of Zonic?. It can be confirmed verified that the vibration peak of joint-linear motion blending has been reduced to 1/10, compared to that of PTP.
목차
제 1 장 서 론 11.1 연구의 배경 11.2 연구동향 21.3 연구의 목적 및 내용 4제 2 장 LabVIEW 기반 이종 모션 블랜딩 52.1 매개 변수를 이용한 속도 중첩 52.2 매개 변수를 이용한 이종 모션 블랜딩 162.3 LabVIEW 를 이용한 이종 모션 블랜딩 프로그래밍 20제 3 장 소프트웨어 연동을 통한 시뮬레이션 263.1 SolidWorks를 이용한 로봇 설정 263.1.1 6축 수직다관절로봇의 3D 모델링 263.1.2 SolidWorks에서 로봇의 축 설정 283.2 SolidWorks와 LabVIEW 연동을 통한 시뮬레이션 303.2.1 SolidWorks와 LabVIEW의 연동 303.2.2 시뮬레이션 결과 분석 323.3 RecurdynV7을 이용한 시뮬레이션 35제 4 장 프로그램 적용 및 결과 측정 38제 5 장 결론 42참고문헌 43
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