Adaptive SMC for trajectory tracking in freeform grinding
This work is a first step to the automation of freeform surface grinding. A control strategy for a robotic manipulator following a path which includes switching between different surfaces, constant depths of cut and system-inherent as well as environmental uncertainties is presented. The sliding mode control scheme with adaptive parameter update law is verified through simulation.
Generation of efficient adjustment strategies for a fuzzy-neuro force controller using genetic algorithms - application to robot force control in an unknown environment
Abstract This paper presents an effective generation method of adjustment strategies for a fuzzy-neuro force controller (FNFC) of a robot manipulator in an unknown environment. In this method, strategies to adjust the FNFC in accordance with the environment dynamics are automatically generated in off-line manner using genetic algorithms (GA). The generated strategies are stored in a neural network and used for adjusting the FNFC in on-line. Therefore, the FNFC is automatically adjusted in accordance with the unknown dynamics of an environment using the generated strategies which are stored in the neural network. Fuzzy fitness evaluation method is proposed for the effective evolution of the neural network in the GA process. The effectiveness of the generated adjustment strategies of the FNFC has been evaluated by computer simulation with a 3DOF robot manipulator model.
Development of CAM system for 5-Axis NC machining of sculptured surfaces
Developed in this research is a CAM system for 5-axis NC Machining of sculptured surfaces. We identify problems in generating 5-axis NC data and propose methods of overcoming them. Issues discussed in this paper are: kinematic modelling of NC machines; determination of cutter position (location and orientation); check of machine work-range; linear trajectory plann- ing ; calculation of feedrate number. The proposed system has been implemented in FORTRAN77 on the Personal IRIS EWS, and it also constitutes a module of the CAD/CAM system 'CASSET' developed in KIST CAD/CAM lab.