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LabVIEW<SUP>®</SUP>를 이용한 6축 수직 다관절 로봇의 퍼지 로직이 적용된 게인 스케줄링 프로그래밍에 관한 연구
강석정(Seok-Jeong Kang),정원지(Won-Jee Chung),박승규(Seung-Kyu Park),노성훈(Sung Hun Noe) 한국기계가공학회 2017 한국기계가공학회지 Vol.16 No.4
As the demand for industrial robots and Automated Guided Vehicles (AGVs) increases, higher performance is also required from them. Fuzzy controllers, as part of an intelligent control system, are a direct control method that leverages human knowledge and experience to easily control highly nonlinear, uncertain, and complex systems. This paper uses a LabVIEW<SUP>Ⓡ</SUP>-based fuzzy controller with gain scheduling to demonstrate better performance than one could obtain with a fuzzy controller alone. First, the work area was set based on forward kinematics and inverse kinematics programs. Next, LabVIEW<SUP>Ⓡ</SUP> was used to configure the fuzzy controller and perform the gain scheduling. Finally, the proposed fuzzy gain scheduling controller was compared with to controllers without gain scheduling.