제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2003년도 ICCAS
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- Pages.2010-2015
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- 2003
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)
- 발행 : 2003.10.22
초록
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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