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시간지연제어기법과 무지령 입력다듬기기법을 이용한 텔레스코픽 핸들러의 진동 제어
장평훈,박준영,Jang, Pyeong-Hun,Park, Jun-Yeong 대한기계학회 2001 大韓機械學會論文集A Vol.25 No.7
A telescopic handless is a kind of construction machinery for loading, carrying and unloading various cargos. A residual vibration of the boom, however, is often caused in carrying cargos to high workplace, especially in small motion and unloading operations, even when an expert of this machine handless the boom. To solve this vibrational problem, we applied TDC and newly proposed Commandless IST to the telescopic handler, and confirmed their effectiveness through experiments. These promising results show that the proposed control schemes can improve productivity, safety and ride comfort of the telescopic handler.
시간지연제어기법을 이용한 로봇의 혼합(위치/힘) 제어에 관한 연구
장평훈,박병석,박주이 대한기계학회 1994 대한기계학회논문집 Vol.18 No.10
Robot position/force control has been a difficult task owing to the interaction between a robot and an environment with a rather high stiffness. In addition to the dynamic instability, the interaction causes the following problem : 1) chattering at steady-state, 2) dynamic coupling effect of robot, and 3) performance degradation due to a titled environment. To solve the problem, the Time Delay Control(TDC), which has been known to be quiet robust to plant uncertainties and disturbances, has been applied. In conjunction to TDC, the following three ideas were also used : 1) To reduce the amplitude of the chattering at the steady state, a novel scheme was adopted to enhance the resolution type solution of A/D conversion for the force sensor. 2) To reduce the dynamic coupling, a trajectory type position command was tried on a comparative basis to the step command, as well as a more accurate mass matrix was used instead of the constant mass matrix. 3) And finally to improve the performance in the tilted environment, force derivatives instead of position derivatives were used in the TDC law. Computer simulations and experiments resulted in obvious improvements on the quality of the hybrid control, thereby clearly demonstrating the effectiveness of TDC with the proposed ideas.
장평훈,박석호,이성욱 대한기계학회 1994 대한기계학회논문집 Vol.18 No.10
Recently the Time Delay Control(TDC) method has been proposed as a promising technique in the robust control area, where the plant has unknown dynamics with parameter variations and substantial disturbances are present. When TDC is applied to the plant with saturation nonlinearity, however, the so called windup phenomena are observed to arise, causing excessive overshoot and instability. In order to solve this problem, we have proposed an anti-windup method for TDC. The stability of the overall system has been analyzed for a class of LTI MIMO system. The effectiveness for the proposed method has been shown with simulation and experiment results.
여유자유도 로봇의 기구학, 동역학 및 제어를 위한 확장실공간 해석
장평훈,박기철,김승호 대한기계학회 1994 대한기계학회논문집 Vol.18 No.12
In this paper a new concept, named the Extended Operational Space Formulation, has been proposed for the effective analysis and real-time control of the robot manipulators with kinematic redundancy. The extended operational space consists of operational space and optimal null space. The operational space is used to describe robot end-effector motion; whereas the optimal null space, defined as the target space of the self motion manifold, is used to express the self motion for the secondary tasks. Based upon the proposed formulation, the kinematics, statics, and dynamics of redundant robots have been analyzed, and an efficient control algorithm has been proposed. Using this algorithm, one can optimize a performance measure while tracking a desired end-effector trajectory with a better computational efficiency than the conventional methods. The effective ness of the proposed method has been demonstrated with simulations.