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基礎部에 外亂이 作用하는 ONE-LINK 彈性 ARM의 變位制御에 關한 硏究
홍동표,尹英進,長南征二,猪岡光 全北大學校 1991 論文集 Vol.33 No.-
This paper presents a study on the displacement control of the one-link flexible arm whose tip keeps a constant distance to the fluctuating surface of the target under fluctuation throuhg theoretical analysis and computer simulation. The analytical model is composed of three parts of DC SERVOMOTOR, FLEXIBLE ARM with a length(L), TIP MASS, and acted on the moment and shear force on each part of flexible arm. The relative displacement between the arm and the target is controled by DC servomotor driven by a feedback signal composed of the tip displacement and velocity. In the numerical analysis, Laplace Transform is used for development of the governing equations, and its solution is obtained by applying the method of Numerical Laplace Inversion used the Weeks Method. On this paper, the analysis about transient response of the flexible arm subjected to the square sine wave input signal and unit step input signal was performed through the theoretical analysis and computer simulation.
Lee, Seong-Cheol,Bang, Du-Yeol,S. Chonan,H. Inooka 한국정밀공학회 1992 한국정밀공학회지 Vol. No.
This paper provides the end-point positioning of a single-link flexible robot arm by inverse dynamics. The system is composed of a flexible arm, the mobile ballscrew stage as an arm base, a DC servomotor as an actuator, and a computer. Actuator voltages required for the model of a flexible arm to follow a given tip trajectory are formulated on the basis of the Bermoullie-Euler beam theory and solved by applying the Laplace transform method, and computed by the numerical inversion method proposed by Weeks. The mobile stage as the arm base is shifted so that the end-point follows the desired trajectories. Then the trajectory of end-point is measured by the laser displacement sensor. Here, two kinds of functions are chosen for the given tip trajectories. One is what is called the bang-bang acceleration profile and the other is the Gaussian velocity profile.