무고정 조립작업을 위한 협조로봇 매니퓰레이터의 제어에 관한 연구 = A study on the control of two-cooperating robot manipulators for fixtureless assembly

다국어 초록 (Multilingual Abstract)

This paper proposes the modeling of the dynamics of two cooperating robot manipulators performing the assembly job such as peg-in-hole while coordinating the payload along the desired path. The mass and moment of inertia of the manipulators and the payload are assumed to be unknown. To control the uncertain system, a robust control algorithm based on the computed torque control is proposed. Usually, the robust controller requires high input torques such that it may face input saturation in actual application. In this reason, the robust control algorithm includes fuzzy logic such that the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation while keeping path tracking errors bounded. A numerical example using dual three degree-of-freedom manipulators is shown.