제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
- /
- Pages.151-154
- /
- 1997
작동기가 불충분한 매니퓰레이터의 진동적 제어
Vibrational control of an underactuated mechanical system
- Lee, Kang-Ryeol (Graduate College, Pusan National University) ;
-
Hong, Keum-Shik
(Department of Control and Mechanical Engineering, Pusan National University) ;
- Lee, Kyo-Il (Department of Machanical Design and Production Engineering, Seoul National University)
- 발행 : 1997.10.01
초록
An open loop vibrational control of underactuated mechanical systems with amplitude and frequency modulations is investigated. The underactuated systems considered in the paper are assumed to have free joints with no brake. The active joints are positioned first by a linearizing control, and then periodic oscillatory inputs are applied to them to move the remaining free joints to their desired states. A systematic way of obtaining averaged systems for the underactuated systems with oscillatory vibrations is developed. A complete solution to the open loop control strategy in terms of determining amplitudes and frequencies for general system is still under investigation. However, a specific control design for 2R manipulator which is obtained the averaging system is demonstrated.
키워드