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Proceedings Paper

Learning control of pipe cutting robot with magnetic binder
Author(s): Sungsoo Rhim; Sung-Whan Lee; Gook-Hwan Kim; Soon-Geul Lee
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Paper Abstract

The tracking control of an automatic pipe cutting robot, called APCROM, with a magnetic binder was studied. Using magnetic force APCROM, a wheeled robot, binds itself to the pipe and executes unmanned cutting process. The gravity effect on the movement of APCROM varies as it rotates around the pipe laid in the gravitational field. In addition to the varying gravity effect other types of nonlinear disturbances including backlash in the driving system and the slip between the wheels of APCROM and the pipe also cause degradation in the cutting process. To maintain a constant velocity and consistent cutting performance, the authors adopted a repetitive learning controller (MRLC), which learns the required effort to cancel the tracking errors. An angular-position estimation method based on the MEMS-type accelerometer was also used in conjunction with MRLC to compensate the tracking error caused by slip at the wheels. Experimental results verify the effectiveness of the proposed control scheme.

Paper Details

Date Published: 2 May 2006
PDF: 8 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423N (2 May 2006); doi: 10.1117/12.664770
Show Author Affiliations
Sungsoo Rhim, Kyung Hee Univ. (South Korea)
Sung-Whan Lee, Kyung Hee Univ. (South Korea)
Gook-Hwan Kim, Kyung Hee Univ. (South Korea)
Soon-Geul Lee, Kyung Hee Univ. (South Korea)

Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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