Paper Title:
Tracking Control of Automatic Pipe Cutting Robot with Magnetic Binder
  Abstract

An automatic pipe cutting/welding robot with a magnetic binder, which is named APCROM, is developed and its tracking control is studied in this paper. Using magnetic force the four-wheeled mobile robot binds itself to the pipe and executes automatic pipe cutting/welding process. As APCROM rotates around the cylindrical pipe laid in the gravitational field, the gravity effect on the movement of the robot varies. The varying gravitational effect deteriorates the tracking performance of the robot and degrades the quality of the pipe cutting/welding process. To maintain a constant velocity and consistent cutting/welding performance, the authors adopt a repetitive learning controller, which learns through practice the required effort to cancel the tracking errors. Analysis results and experimental results verify the effectiveness of the proposed control scheme.

  Info
Periodical
Materials Science Forum (Volumes 505-507)
Edited by
Wunyuh Jywe, Chieh-Li Chen, Kuang-Chao Fan, R.F. Fung, S.G. Hanson,Wen-Hsiang Hsieh, Chaug-Liang Hsu, You-Min Huang, Yunn-Lin Hwang, Gerd Jäger, Y.R. Jeng, Wenlung Li, Yunn-Shiuan Liao, Chien-Chang Lin, Zong-Ching Lin, Cheng-Kuo Sung and Ching-Huan Tzeng
Pages
1201-1206
DOI
10.4028/www.scientific.net/MSF.505-507.1201
Citation
S. S. Rhim, S. G. Lee, "Tracking Control of Automatic Pipe Cutting Robot with Magnetic Binder", Materials Science Forum, Vols. 505-507, pp. 1201-1206, 2006
Online since
January 2006
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Xiao Li, Xiao Hua Yang
Abstract:Considering the nonlinear and time-variable characteristics of the injection cylinder system of hydraulic injection molding machine (HIMM), a...
1117
Authors: Er Chao Li, Zhan Ming Li
Chapter 3: Mechatronics and Automation
Abstract:In order to realize precise contact tasks with an unknown environment, robotic force controllers have to adapt themselves to the unknown...
2117
Authors: Shi Zhong Hu, En Rang Zheng
Chapter 1: Numbers, Intelligence
Abstract:With the unit capacity of the wind turbine is increasing, analyzing, suppressing of gird harmonic and reducing the grid harmonic pollution by...
59
Authors: Deng Hua Li, Zhan Xian Chen, Shuang Zhai
Chapter 3: Measuring Technology and Mechatronics
Abstract:For the problem of that the traditional brushless DC torque motor controller position servo system is difficult to track accurately the...
1351
Authors: Liu Hsu Lin, Jai Yush Yen, Fu Cheng Wang
Chapter 7: Sensors, Mechatronics and Robotics
Abstract:This paper describes the application of system identification techniques and robust control strategies to a pneumatic muscle actuator system....
1936