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$\mu$-합성법에 의한 유연한 조작기의 위치 및 진동제어
박노철,양현석,박영필,Park, No-Cheol,Yang, Hyun-Seok,Park, Young-Pil 대한기계학회 1996 大韓機械學會論文集A Vol.20 No.10
When a robot is to have contact with its enviornment, such as a medi-care robot, it would be advantageous for the robot to have a high compliance. For this reason, a robot having not only a flexible link but also an actuator with compliance, is desirable. This paper is concerned with the position and vibration control of 1 degree of freedom flexible robot using a pneumatic artificial muscle actuator. The dynamics of the manipulator assumed to be and Euler-Bernoulli beam are derived on the basis of the linear mathematical modle. Although this pneumatic artifical muscle actuator has many merits for the compliance robot, it is difficult to make an effective control scheme of this system because of ths nonlinearity and uncertainty on the dynamics of the actuator. By designing a controller using .mu.-synthesis, robust performance against measurement noise, various modeling uncertainties on the dynamics of the servo valve, actuator and mainpulator, is achieved. The effectiveness of the proposed control method is illustrated through simulations and experiments.
박노철,양현석,박영필,Park, No-Cheol,Yang, Hyun-Seok,Park, Young-Pil 대한기계학회 1996 大韓機械學會論文集A Vol.20 No.6
This paper is concerned with the position control of the ond degree-of freedom manipulator using pneumatic artificial muscle actuator which is built to have a proper compliance. For t his pneumatic artificial muscle actuator though, it is difficult to make an effective control scheme due to the nonlinearity and uncertainties on the dynamics of the actuator. In this paper, a third-order equation of motion is derived for the actuator including the dynamics of the pneumatic servovalve. Later, various modeling uncertainties due to the nonlinearity and unmodeled dynamics of the servo vlave and the actuator are taken care of, as a trade-off between the closed-loop performance of the controlled system and its robustness to uncertainties. A controller using .mu. synthesis thchnique is designed, and robust performance against measurement noise, various modeling uncertainties due to the dynamics of the servo valve and actuator is achieved. The effectiveness of the proposed control methods is illustrated through simulations and experiments.
박노철(No-Cheol Park),박종범(Jong-Beom Park),이종학(Jong-Hak Lee),이종현(Jong-Hyun Lee),강광희(Kwang-Hee Kang) 한국소음진동공학회 2014 한국소음진동공학회 학술대회논문집 Vol.2014 No.10
Recently, military vehicles that are being driven are equipped with a lot of electronic devices. The military vehicles are easily exposed to impact. Thus, they have to be designed robustly to ensure that the stability of the vehicle and the electronic equipment. In order to design the vehicles efficiently, the dynamic characteristics of a military vehicle have to be identified exactly. The main frame has a significant role to the dynamic characteristics of the vehicle. Thus, this research was progressed mainly with the frame. By carrying out road tests, the characteristics could be identified. Also, based on the characteristics, we constructed FE model of the frame and performed the analysis of the dynamic characteristics of the vehicle.