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Performance Enhancement of Gantry Robot Position Control Using AI-Tuned Digital PID Controllers

첫 페이지 보기
  • 발행기관
    국제인공지능학회(구 한국인터넷방송통신학회) 바로가기
  • 간행물
    The International Journal of Advanced Smart Convergence 바로가기
  • 통권
    Volume 14 Number 3 (2025.09)바로가기
  • 페이지
    pp.66-82
  • 저자
    Hee-Jae Yoo, Hyung-Ho Hyun, Ju-Hoon Park, Byeong-Ho Jeong
  • 언어
    영어(ENG)
  • URL
    https://www.earticle.net/Article/A474315

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원문정보

초록

영어
In recent years, desktop and gantry-type robots have been widely adopted across industrial applications, ranging from logistics and 3D printing to factory automation and smart farming. Conventional systems, often driven by AC servo motors and configured with ball screw-based linear motion guides, face limitations such as mechanical friction, slip, and energy loss due to contact based motion stages. To address these challenges, this study proposes an advanced position control framework for gantry-type collaborative robots by integrating a digital PID (Proportional-Integral-Derivative) controller with AI based parameter auto tuning techniques. The proposed approach leverages machine learning and reinforcement learning algorithms to optimize control parameters dynamically, overcoming the limitations of traditional manual tuning. An Octave based simulation environment is used to validate initial PID settings, which are subsequently applied to a real world gantry-type robot platform. The results demonstrate significant improvements in real time control accuracy, trajectory tracking, and operational stability. This research not only enhances precision and responsiveness in collaborative robot systems but also introduces a generalized control methodology applicable to various automation devices utilizing AC servo motors. The AI-augmented control framework shows strong potential for deployment in diverse fields such as manufacturing, assembly, inspection, logistics, and medical robotics. Ultimately, the study contributes to establishing a scalable and intelligent control standard for next-generation industrial robotic systems.

목차

Abstract
1. Introduction
2. Digital PID Control Design
2.1 Digital PID Control System
2.2 Electrical Modeling of AC Servomotor Based on R–L Series Circuit
2.3 Target Follow Block Diagram
2.4 Initial Error Value
3. System Configuration
4. Simulation and Experimental Results
4.1 Simulation of PI control using AI
4.2 Experimental Results
5. Conclusion
Acknowledgement
References

키워드

Digital PID Control Gantry Robot System Collaborative Robot (Cobot) AI-Based Parameter Tuning Reinforcement Learning Real-Time Position Control Industrial Automation

저자

  • Hee-Jae Yoo [ Master degree, Dept. of Electrical Engineering, Nambu University ]
  • Hyung-Ho Hyun [ Ph.D. student, Dept. of Mechanical Engineering, Nambu University ]
  • Ju-Hoon Park [ Professor, Dept. of Electrical Engineering, Nambu University ]
  • Byeong-Ho Jeong [ Professor, Dept. of Electrical Engineering, Nambu University ] Corresponding Author

참고문헌

자료제공 : 네이버학술정보

간행물 정보

발행기관

  • 발행기관명
    국제인공지능학회(구 한국인터넷방송통신학회) [The International Association for Artificial Intelligence]
  • 설립연도
    2000
  • 분야
    공학>전자/정보통신공학
  • 소개
    인터넷방송, 인터넷 TV , 방송 통신 네트워크 및 관련 분야에 대한 국내는 물론 국제적인 학술, 기술의 진흥발전에 공헌하고 지식 정보화 사회에 기여하고자 한다.

간행물

  • 간행물명
    The International Journal of Advanced Smart Convergence
  • 간기
    계간
  • pISSN
    2288-2847
  • eISSN
    2288-2855
  • 수록기간
    2012~2025
  • 십진분류
    KDC 326 DDC 380

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