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스마트팩토리 실현을 위한 뉴럴네트워크 기반 이중 아암을 갖는 제조용 로봇의 지능제어에 관한 연구
정금준 ( Kum Jun Jung ),김동호 ( Dong Ho Kim ),김희진 ( Hee Jin Kim ),장기원 ( Gi Wong Jang ),한성현 ( Sung Hyun Han ) 한국산업융합학회 2021 한국산업융합학회 논문집 Vol.24 No.3
This study proposes an intelligent control of manufacturing robot with dual arm based on neural network for smart factory implementation. In the control method of robot system, the perspectron structure of single layer based on neural network is useful for simple computation. However, the limitations of computation are emerging in areas that require complex computations. To overcome limitation of complex parameters computation a new intelligent control technology is proposed in this study. The performance is illustrated by simulation and experiments for manufacturing robot dual arm robot with eight axes.