Simulation Technique of Velocity-Based Discrete-time Control System with Intelligent Control Concepts for Open Architectural Industrial Robots

摘要

Industrial robots have drastically rationalized many kinds of manufacturing processes inindustrial fields. For this decade, open architectural industrial robots have been produced from severalindustrial robot makers such as KAWASAKI Heavy Industries, Ltd., MITSUBISHI Heavy Industries, Ltd.and YASKAWA Electric Corp. and so on. Open architecture described in this article means that theservo system and kinematics of the robot are technically opened, so that various applications required inindustrial fields are allowed to be planned and developed at the user side. For example, non-taught operationby using a CAD/CAM system can be considered due to the opened accurate kinematics. Also, forcecontrol strategy using a force sensor can be implemented due to the opened servo system. In this article, asimulation technique of velocity-based discrete-time control system for open architectural industrial robotsis introduced by giving examples of intelligent control methods. In order to develop a novel velocity-baseddiscrete-time control system for an open architectural industrial robot, it is required from the points ofview concerning safety, cost and easiness to preliminarily examine and evaluate the characteristics andperformance. In such a case, the proposed simulation technique is useful.