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A Control System Design of a Single - Link Manipulator Using H<SUB>∞</SUB> Control Theory
Yoichi SHIMOMOTO,Toshihiro KOBAYASHI,Takakazu ISHIMATSU 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
This paper is concerned with a control system design of a vertical type single-link manipulator. One designing method using H∞ control theory, which considers effects of gravity in a design specification, is proposed. In our design method we regard effects of gravity on dynamics of the manipulator as a disturbance at plant input. We consider reducing the H∞-norm of a transfer function from this disturbance to plant output as much as possible in order to reject effects of gravity. A numerical result shows that our design method achieves better tracking performance than the mixed sensitivity method which is a conventional method when H∞ control theory is applied to a control system design.
3-dimentional Formaiton System Using A Robot Hand
Keita MORITA,Fumio KASAGAMI,Takakazu ISHIMATSU 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
In this paper we propose a 3-dimensional formation system using an arc welding robot. The principle of our system is just only to accumulate welding beads, so that the target 3-dimensional surfaces can be built up. Considering the effects of the gravity on the arc welding, the welding torch is steadily clamped and the position and the posture of the target board on which target work is formed is controlled by a 6-axis robot hand. Movements of the target board are controlled considering the 3-dimensional shape of the target and the accumulating speed of the welding bead. In order to realize such systems, a distance sensor is mounted on the tip of the robot hand. And a coordinate transformation technique is employed.