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A Compensation Control Method Using Neural Network for Mechanical Deflection Error in SCARA Robot with Random Payload
저자
이종신
학술지명
한국기계기술학회지
출판/발행연도
2011
주제
요약
본 연구는 SCARA 로봇의 기계적 변형 오차를 보상하는 방법을 제안한다. 신경망을 사용하여 로봇 자세 및 페이로드 변화에 따른 변형을 예측하고, 이를 바탕으로 로봇의 정확도를 향상시키는 보상 방법을 제시한다. FEM 해석을 통해 얻은 데이터를 기반으로 신경망 학습을 수행하여 변형을 예측하고 보상하는 것이 특징이다.
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