제어로봇시스템학회:학술대회논문집
- 1997.10a
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- Pages.151-154
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- 1997
Vibrational control of an underactuated mechanical system
작동기가 불충분한 매니퓰레이터의 진동적 제어
- Lee, Kang-Ryeol (Graduate College, Pusan National University) ;
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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)
- Published : 1997.10.01
Abstract
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.
Keywords
- averaging;
- feedback linearization;
- open loop control;
- underactuated manipulator;
- vibrational control