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이진호(JinHo Lee),임성수(SungSoo Rhim),이순걸(SoonGeul Lee) 한국정밀공학회 2005 한국정밀공학회 학술발표대회 논문집 Vol.2005 No.10월
Having flexibility in a manipulator will degrade trajectory tracking control and manipulator tip positioning. In practice, however, constraints imposed by various operating requirements, will render the presence of such flexibility unavoidable. The dynamic analysis of the flexible manipulator is essential in designing proper control systems. A flexible manipulator consists of infinite number of elastic modes and the modes are usually coupled to each other. For the practicality, however, it is usually assumed that the flexible system consists of finite number of elastic modes and the modes are decoupled. These assumptions result in a linear and decoupled mathematical model of the flexible manipulator and simplify the analysis of the dynamic behavior and the design of the control system. The decoupling and linearization of the flexible link, however, has been assumed without in depth analysis. This paper focuses on the analysis of the significance of the non-linear coupling factors.
모멘트 관측기 기반 충돌 감지 기법의 민감도 변화에 따른 임계점 선정 기법
윤태준(Taejoon Yoon),임성수(Sungsoo Rhim) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
Unlike conventional industrial robots collaborative robots share the workspace between workers and robots. So it becomes more important to secure the safety of workers for the collision. Previous studies have proposed a solution for safety system in three phase; the pre-collision phase, the collision phase, and the post-collision phase. The collision detection method based momentum observer has a blind direction in used the collision phase the method which cannot detect the collision force according to the particular robot posture and the collision direction. In this paper, we simulate momentum observer algorithm using UR5 model and analyze the sensitivity of the collision detection and analyze the characteristics of the blind direction. Existing momentum observer methods have limited use for its computational cost to calculate the inverse jacobian matrix. In this paper, we propose a simple threshold selection criteria based on the sensitivity analysis. It also decreases the computational cost and improves the efficiency of method in real-time system. For the validation of the method proposed, several simulations results are included are conducted in this paper.