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동역학 분할 기법을 이용한 유연한 구조물 위에 장착된 로봇팔의 작업공간 추종 및 진동 저감 제어기법
김학찬(Hackchan Kim),하창수(Changsu Ha),이동준(Dongjun Lee) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
This paper presents workspace control framework of a manipulator which is supported by a flexible beam, while suppressing vibrational motion by using passive decomposition. We, first, derive the flexible beam-manipulator system dynamics, considering boundary conditions of the flexible part that includes the dynamic effects of the manipulator’s mass and inertia. Then, the passive decomposition is deployed to decompose the original dynamics into workspace and null-space dynamics. Finally, after designing the desired control laws in both spaces, we suggest a least-square solution of the desired control laws due to under-actuation property of the system. Real experiments are performed to verify the performance of the proposed control framework.