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GA-Based Practical Auto-Tuning Technique for Industrial Robot Controller with System Identification

GA-Based Practical Auto-Tuning Technique for Industrial Robot Controller with System Identification

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カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門(英文)

発行日: 2012/07/01

タイトル(英語): GA-Based Practical Auto-Tuning Technique for Industrial Robot Controller with System Identification

著者名: Eui-Jin Kim (Department of Computer Science and Engineering, Nagoya Institute of Technology/Intelligent Machines Research Department, Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd.), Kenta Seki (Department of Computer Science an

著者名(英語): Eui-Jin Kim (Department of Computer Science and Engineering, Nagoya Institute of Technology/Intelligent Machines Research Department, Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd.), Kenta Seki (Department of Computer Science and Engineering, Nagoya Institute of Technology), Makoto Iwasaki (Department of Computer Science and Engineering, Nagoya Institute of Technology), Sang-Hun Lee (Intelligent Machines Research Department, Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd.)

キーワード: industrial robot,auto-tuning,autonomous identification,genetic algorithm

要約(英語): This paper presents a practical auto-tuning technique based on a genetic algorithm (GA) for servo controllers of multi-axis industrial robots. Compared to conventional manual tuning techniques, the auto-tuning technique can help save an engineers' time and the cost of controller tuning, reduce performance deviation among products, and achieve higher control performance. The technique consists of two main processes. One is an autonomous system identification process involving the use of actual motion profiles of a typical robot. The other is an autonomous control gain tuning process in the frequency and time domains involving the use of a genetic algorithm, which satisfies the required tuning specifications, e. g., control performance, execution time, stability, and practical applicability in industries. The proposed technique has been validated through experiments performed with a six-axis industrial robot.

本誌: IEEJ Journal of Industry Applications Vol.1 No.1 (2012) Special Issue on Power Electronics

本誌掲載ページ: 62-69 p

原稿種別: 論文/英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/1/1/1_62/_article/-char/ja/

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