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

Abstract

Industrial robots have drastically rationalized many kinds of manufacturing processes in industrial fields. For this decade, open architectural industrial robots have been produced from several industrial 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 the servo system and kinematics of the robot are technically opened, so that various applications required in industrial fields are allowed to be planned and developed at the user side. For example, non-taught oper- ation by using a CAD/CAM system can be considered due to the opened accurate kinematics. Also, force control strategy using a force sensor can be implemented due to the opened servo system. In this article, a simulation technique of velocity-based discrete-time control system for open architectural industrial robots is introduced by giving examples of intelligent control methods. In order to develop a novel velocity-based discrete-time control system for an open architectural industrial robot, it is required from the points of view concerning safety, cost and easiness to preliminarily examine and evaluate the characteristics and performance. In such a case, the proposed simulation technique is useful.