퍼지를 이용한 6축 수직 다관절 로봇의 게인 튜닝에 관한 연구 = A Study on the Gain Tuning of 6-axis Articulated Robot Using Fuzzy

다국어 초록 (Multilingual Abstract)

Recently, cutting-edge information and communication technology and existing industry are converging, and robotics research is actively being done. Therefore, not only the mechanical design of the robot, but also robust control is required for the robot to have accurate and rapid movement.
The problem of the conventional classical gain tuning is that sudden changes in the measured variables can lead to unexpected movements or loss of stability, resulting in collision or breakage of the robot. In addition, accurate linear time-invariant models must be extracted from multiple design points, which is not always possible and requires much effort.
Fuzzy control, which is a control method to overcome the disadvantages of existing PID control, suggests a way to overcome limitations of conventional automatic control and manual control. The modeling process necessarily accompanied by the conventional automatic control can be omitted, the control rule can be appropriately specified as the fuzzy implied proposition, and then the control can be performed using the fuzzy inference.
In addition, the linguistic control rules can be specified as fuzzy implicit propositions, and the control input can be determined by comparing the output of the control object with the desired input using fuzzy inference.
In this paper, a controller for 6-axis articulated robot is constructed using fuzzy inference and fuzzy control rules, and then fuzzy gain tuning is implemented to improve the response of the robot. In this study, the gain tuning through fuzzy PI control is programmed using Labview®, and the simulation is performed and the result is compared with the existing PI controller.

목차 (Table of Contents)

• 목차 i
• LIST OF FIGURES ⅲ
• LIST OF TABLES v
• NOMENCLATURE vi
• I. 서 론 1
• 1. 연구 배경 1
• 2. 연구 목적 및 내용 2
• II. 6축 수직 다관절 로봇 3
• 1. 6축 수직 다관절 로봇의 구조 3
• 2. 로봇의 제어기 구성 4
• III. PID 튜닝 이론 5
• 1. 속도 제어 루프 - 비례 이득 5
• 2. 속도 제어 루프 - 적분 이득 6
• 3. 위치 제어 루프 - 비례 이득 8
• IV. 퍼지 이론 10
• 1. 퍼지 알고리즘 10
• 2. 퍼지 추론 11
• 1) 개요 11
• 2) 퍼지 추론 수순 13
• 3) 비퍼지화 14
• (1) 최고 소속도함수법 (max-membership principle) 15
• (2) 무게중심법 (centroid method) 16
• (3) 가중평균법 (weighted average method) 17
• (4) 합중심법 (center of sums method) 18
• V. 퍼지 제어 19
• 1. 퍼지 제어 개요 19
• 2. 퍼지 제어기 20
• VI. 퍼지제어를 이용한 로봇 게인 튜닝 설계 21
• 1. 로봇 제어 블록 다이어그램 21
• 2. 제어규칙 설정 및 소속함수 22
• 3. 제어기 적용 28
• 4. LabviewⓇ를 이용한 퍼지 게인 튜닝 31
• 5. 실험 및 결과 32
• VII. 결론 39
• 참고문헌 40
• ABSTRACT 43