제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Compliance Analysis and Vibration Control of the Safe Arm with MR-based Passive Compliant Joints

  • Yun, Seung-Kook (Advanced Robotics Research Ce nter, Korea Institute of Science and Technology) ;
  • Yoon, Seong-Sik (Advanced Robotics Research Ce nter, Korea Institute of Science and Technology) ;
  • Kang, Sung-Chul (Advanced Robotics Research Ce nter, Korea Institute of Science and Technology) ;
  • Yeo, In-Teak (Intelligent Mechanical System Research Dept., Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd.) ;
  • Kim, Mun-Sang (Advanced Robotics Research Ce nter, Korea Institute of Science and Technology) ;
  • Lee, Chong-Won (Advanced Robotics Research Ce nter, Korea Institute of Science and Technology)
  • Published : 2003.10.22
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Abstract

In this paper, a design and control of the safe arm with passive compliant joints(PCJ) is presented. Each PCJ has a magneto- rheological damper and maximum 6 springs. Compliance analysis in Cartesian space is performed with the compliance ellipsoid; this analysis shows a map between compliance in the joint space and compliance in Cartesian space. Vibration control of the arm using an input shaping technique is also presented; the results of a simulation and an experiment prove that a fast motion of the safe arm without residual vibration can be performed.

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