Intelligent Iterative Learning Control for 6-Axis Robot Manipulator

• Main Authors: HSIEH, SHENG-MIN, 謝昇旻
• Other Authors: Chen, Shyh-Leh
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/w8h5w4

碩士 === 國立中正大學 === 機械工程系研究所 === 107 === In recent years, due to the maturity of measurement technology, data acquisition, transmission, and storage are relatively easy. As sensors become more common, we can get more information about the machine. This information can be used in traditional Feedback control, high-speed and high-precision machining movement, can also be used to develop many intelligent value-added functions, such as learning control, multi-axis anti-collision. This study focuses on the iteration learning control of the 6 axis manipulator. It is expected to perform iterative learning control without changing the original closed-loop control system of the 6 axis manipulator to improve the processing efficiency. The goal of traditional learning control is to reduce the tracking error of each axis, but reducing the tracking error is not necessarily equivalent to reducing the contour error. Contour error is the key to affect the accuracy of the workpiece. Different from the traditional learning control, this study uses the Equivalent contour error proposed by the team as the target, and designs the learning control algorithm to improve the command of the next processing cycle by repeated learning. In the future, the ultimate goal of the team is to achieve a manufacturing unit that combine the machine tool and the robot. Build a dynamic model with the measured data. The 6 axis manipulator is paired with a machine tool system to form a set of intelligent automated manufacturing units. Keywords: six-axis robot arm, equivalent contour error, iterative learning control