http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
MK2 로봇에 대한 가변구조 위치제어와 MSDS 분석에 관한 연구
함철주,조준익 群山大學校 情報通信技術硏究所 1998 情報通信技術硏究論文集 Vol.2 No.-
Analyzing the kinematic or dynamic equations of motion for coordination and control of a robotic system, we adopt a graphical simulation to animate the motion results. A new control algorithm is developed for manipulators using the theory of variable structure systems. To illustrate the design procedures, a two-joint manipulator is considered. The hybrid simulation method has demonstrated that the variable structure approach is applicable to manipulator controller design.
준슬라이딩 모드를 이용한 강인한 로보트 매니퓰레이터 제어기 설계
趙俊翼,咸喆柱 군산대학교 1991 群山水産專門大學 硏究報告 Vol.25 No.1
In this paper, a robust control method which can overcome the disturbances and parameters uncertainties of a robot manipulator is proposed. We design the controller of that Robot manipulator by adaptation DVSS control theory with quasi-sliding mode and equivalent control input on the basis of linearized dynamic equation of Robot manipulator with two links which are derived by using Lagrange-Euler formulation. It is insensitive to vary of system parameters and external disturbances ; moverover, the chattering effect can be eliminated in the suggested DVSS controller. From the IBM-PC/AT simulation results, it's shown that by using the proposed controller we have fast response with a very small overshoot in the existing nonlinear interaction and parameter changes, and steady-state error is under 0.1%. We confirm the validity and the stability of suggested dynamic Robot-Arm-Manipulator model with DVSS controller.
유연한 관절을 갖는 단일 링크 로보트에 대한 비선형 제어기 설계
趙俊翼,咸喆柱 군산대학교 1993 群山水産專門大學 硏究報告 Vol.28 No.1
In this paper we present the robust controller for the nonlinear system using feedback linearization applying Min-Max control based on the Lyapunov second method. The robustness against parameter uncertainties for robot manipulators with flexible joint is considered. Simulation results are presented and show the advantage of the proposed nonlinear control method.
趙俊翼,咸喆株 군산대학교 1991 群山水産專門大學 硏究報告 Vol.25 No.2
This paper presents the design, implementation and application of a microcomputer- based interactive digital controller development system. A microcomputer- based incremental servo system with a discrete variable structure for motor speed is presented with respect to the dynamic response and accuracy of controlled speed. Complicated digital control algorithm can be synthesized by using fundamental software building blocks. It is concluded that a robust DVSS (Discrete Variable Structure System) digital controller for motor speed control can be practically designed and implemented with currently available technique and hardware. The experimental results show that usage of DVSC (Discrete Variable Structure Controller) can greatly improve the transient performance of the system.