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    Please use this identifier to cite or link to this item: http://ir.lib.ksu.edu.tw/handle/987654321/20275


    Title: MOTION CONTROL OF AN LCD GLASS-HANDLING ROBOT BY USING MAPLESIM SOFTWARE
    Authors: Zhang, Jie-Wei
    Cheng, Arnie
    Fung, Rong-Fong
    Contributor: Department of Mechanical & Automation Engineering, National Kaohsiung First University of Science and Technology
    CYBERNET SYSTEMS TAIWAN Co. Ltd.
    Keywords: Input absolute electrical energy (IAEE)
    LCD glass-handling robot
    MapleSim software
    real-coded genetic algorithm (RGA)
    point-to-point (PTP) trajectory planning
    Date: 2013-11-02
    Issue Date: 2013-11-06 17:03:57 (UTC+8)
    Abstract: A new type of mathematical modelling tool is utilized to formulate an LCD glass-handing robot driven by a permanent magnet synchronous motor (PMSM). In this paper, MapleSim software is easily used for dynamically modelling this mechatronic system and tracking a trajectory by using a proportional, integral, and derivative (PID) controller without complex mathematical derivations. The input absolute electrical energy (IAEE) point-to-point (PTP) trajectory is generated by a 12-degree polynomial with constraints at the initial and final times. For system identification, the real-coded genetic algorithm (RGA) is used to search for the unknown parameters of the mechatronic system and the gains of the PID controller. Comparing the results of numerical simulations for tracking the designed trajectory between the linear and nonlinear systems, it is found that the results are very similar because the system is a weakly nonlinear one. Through the experimental results, it is seen that the mechatronic system can track the designed trajectories successfully by an optimal PID controller.
    Appears in Collections:[機械工程系所] Automation 2013- The 12th International Conference on Automation Technology

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