A Novel Control Method to Change Motion of 3DOF Parallel Robot Immediately and Flexibly

Hyun Su Kim; Kwang Hee Lee; Tae Yong Kuc; Seon Je Yang; Kyung Tae Nam

doi:10.23919/ICCAS47443.2019.8971626

A Novel Control Method to Change Motion of 3DOF Parallel Robot Immediately and Flexibly

Hyun Su Kim
, Kwang Hee Lee
, Tae Yong Kuc
, Seon Je Yang
, Kyung Tae Nam

Sungkyunkwan University
Korea Institute of Industrial Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, we propose a new control method for manipulator that allows changing motion immediately and flexible even in sudden situations. The reason is that in the future production process, human and robots will collaborate, or the robot will recognize an environment by itself. We defined linear motion and curve motion method of a 3DOF parallel robot. This control method can be controlled in real time. We simulated to verify motion and experimented with parallel robots and laser trackers. Using this control method, the adept motion experiment of the robot was performed, and the cycle time was 0.395 secs. The new control method was applied to the factory of a beverage company.

Original language	English
Title of host publication	ICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings
Publisher	IEEE Computer Society
Pages	1674-1678
Number of pages	5
ISBN (Electronic)	9788993215182
DOIs	https://doi.org/10.23919/ICCAS47443.2019.8971626
State	Published - Oct 2019
Externally published	Yes
Event	19th International Conference on Control, Automation and Systems, ICCAS 2019 - Jeju, Korea, Republic of Duration: 15 Oct 2019 → 18 Oct 2019

Publication series

Name	International Conference on Control, Automation and Systems
Volume	2019-October
ISSN (Print)	1598-7833

Conference

Conference	19th International Conference on Control, Automation and Systems, ICCAS 2019
Country/Territory	Korea, Republic of
City	Jeju
Period	15/10/19 → 18/10/19

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

Parallel Robot
Path Follow
Real-Time Control
Robot Control
Robotics and Automation

Access to Document

10.23919/ICCAS47443.2019.8971626

Cite this

Kim, H. S., Lee, K. H., Kuc, T. Y., Yang, S. J., & Nam, K. T. (2019). A Novel Control Method to Change Motion of 3DOF Parallel Robot Immediately and Flexibly. In ICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings (pp. 1674-1678). Article 8971626 (International Conference on Control, Automation and Systems; Vol. 2019-October). IEEE Computer Society. https://doi.org/10.23919/ICCAS47443.2019.8971626

@inproceedings{a03427be1302408a9bf94fcf0eee1b4d,

title = "A Novel Control Method to Change Motion of 3DOF Parallel Robot Immediately and Flexibly",

abstract = "In this paper, we propose a new control method for manipulator that allows changing motion immediately and flexible even in sudden situations. The reason is that in the future production process, human and robots will collaborate, or the robot will recognize an environment by itself. We defined linear motion and curve motion method of a 3DOF parallel robot. This control method can be controlled in real time. We simulated to verify motion and experimented with parallel robots and laser trackers. Using this control method, the adept motion experiment of the robot was performed, and the cycle time was 0.395 secs. The new control method was applied to the factory of a beverage company.",

keywords = "Parallel Robot, Path Follow, Real-Time Control, Robot Control, Robotics and Automation",

author = "Kim, \{Hyun Su\} and Lee, \{Kwang Hee\} and Kuc, \{Tae Yong\} and Yang, \{Seon Je\} and Nam, \{Kyung Tae\}",

note = "Publisher Copyright: {\textcopyright} 2019 Institute of Control, Robotics and Systems - ICROS.; 19th International Conference on Control, Automation and Systems, ICCAS 2019 ; Conference date: 15-10-2019 Through 18-10-2019",

year = "2019",

month = oct,

doi = "10.23919/ICCAS47443.2019.8971626",

language = "English",

series = "International Conference on Control, Automation and Systems",

publisher = "IEEE Computer Society",

pages = "1674--1678",

booktitle = "ICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings",

}

Kim, HS, Lee, KH, Kuc, TY, Yang, SJ & Nam, KT 2019, A Novel Control Method to Change Motion of 3DOF Parallel Robot Immediately and Flexibly. in ICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings., 8971626, International Conference on Control, Automation and Systems, vol. 2019-October, IEEE Computer Society, pp. 1674-1678, 19th International Conference on Control, Automation and Systems, ICCAS 2019, Jeju, Korea, Republic of, 15/10/19. https://doi.org/10.23919/ICCAS47443.2019.8971626

A Novel Control Method to Change Motion of 3DOF Parallel Robot Immediately and Flexibly. / Kim, Hyun Su; Lee, Kwang Hee; Kuc, Tae Yong et al.
ICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings. IEEE Computer Society, 2019. p. 1674-1678 8971626 (International Conference on Control, Automation and Systems; Vol. 2019-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A Novel Control Method to Change Motion of 3DOF Parallel Robot Immediately and Flexibly

AU - Kim, Hyun Su

AU - Lee, Kwang Hee

AU - Kuc, Tae Yong

AU - Yang, Seon Je

AU - Nam, Kyung Tae

PY - 2019/10

Y1 - 2019/10

N2 - In this paper, we propose a new control method for manipulator that allows changing motion immediately and flexible even in sudden situations. The reason is that in the future production process, human and robots will collaborate, or the robot will recognize an environment by itself. We defined linear motion and curve motion method of a 3DOF parallel robot. This control method can be controlled in real time. We simulated to verify motion and experimented with parallel robots and laser trackers. Using this control method, the adept motion experiment of the robot was performed, and the cycle time was 0.395 secs. The new control method was applied to the factory of a beverage company.

AB - In this paper, we propose a new control method for manipulator that allows changing motion immediately and flexible even in sudden situations. The reason is that in the future production process, human and robots will collaborate, or the robot will recognize an environment by itself. We defined linear motion and curve motion method of a 3DOF parallel robot. This control method can be controlled in real time. We simulated to verify motion and experimented with parallel robots and laser trackers. Using this control method, the adept motion experiment of the robot was performed, and the cycle time was 0.395 secs. The new control method was applied to the factory of a beverage company.

KW - Parallel Robot

KW - Path Follow

KW - Real-Time Control

KW - Robot Control

KW - Robotics and Automation

UR - https://www.scopus.com/pages/publications/85079086116

U2 - 10.23919/ICCAS47443.2019.8971626

DO - 10.23919/ICCAS47443.2019.8971626

M3 - Conference contribution

AN - SCOPUS:85079086116

T3 - International Conference on Control, Automation and Systems

SP - 1674

EP - 1678

BT - ICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings

PB - IEEE Computer Society

T2 - 19th International Conference on Control, Automation and Systems, ICCAS 2019

Y2 - 15 October 2019 through 18 October 2019

ER -

Kim HS, Lee KH, Kuc TY, Yang SJ, Nam KT. A Novel Control Method to Change Motion of 3DOF Parallel Robot Immediately and Flexibly. In ICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings. IEEE Computer Society. 2019. p. 1674-1678. 8971626. (International Conference on Control, Automation and Systems). doi: 10.23919/ICCAS47443.2019.8971626

A Novel Control Method to Change Motion of 3DOF Parallel Robot Immediately and Flexibly

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

Other files and links

Fingerprint

Cite this