대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2007년도 제38회 하계학술대회
- /
- Pages.900-901
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- 2007
전동차 트로이선 가설 작업로봇의 장력/이동의 혼합제어
Hybrid Tension/Mobile Control of working Robot for Installed Troy Cable
- Park, Jong-Il (Pukyong National University) ;
- Jung, Seoung-Hwan (Pukyong National University) ;
-
Hong, Jung-Pyo
(Pukyong National University)
;
- Hong, Soon-Ill (Pukyong National University)
- 발행 : 2007.07.18
초록
In this paper, an approach to designing controllers for dynamic hybrid Tension/Mobile control of a installed robot for a troy wire cable is presented. Mobile control system of robot is designed based on equation of dc motor and tension control system is designed based on equation of ac servomotor for generating torque and dynamic equation of a wire cable. Dynamic hybrid control system is proposed by feedforward controller with acceleration and tension at start of robot to the case where the tow task of robot dynamics is suppressed a mutual interference. The proposed system is simulated and experimented, results is verified the utilities.