전력전자학회:학술대회논문집 (Proceedings of the KIPE Conference)
- 전력전자학회 2007년도 하계학술대회 논문집
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- Pages.455-457
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- 2007
트로이선 가설 작업 로봇의 장력 및 이동 제어에 관한 연구
Hybrid Tension/Mobile Control of working Robot for installed Troy Cable
- Hong, Jeng-Pyo (Dong-Eui institute of Technology) ;
- Won, Tae-Hyun (Dong-Eui institute of Technology) ;
- Kim, Mun-Soo (Dong-Eui institute of Technology) ;
- Hong, Soon-Ill (Pukyong National univ.)
- 발행 : 2007.07.02
초록
The objective of this study is development of a installed working robot for a troy cable with mobile and tension system. 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 motion for moving robot and tension control system is designed based on equation of ac servomotor for generating torque and dynamic equation of a wire cable. The control parameters is determined by simulation in independence operation of two system.
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