전자공학회논문지B (Journal of the Korean Institute of Telematics and Electronics B)
- 제30B권9호
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- Pages.36-44
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- 1993
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- 1016-135X(pISSN)
유연한 로보트 팔의 동적 모우드 제어
Dynamic Mode Control of Flexible Robotic Arm
초록
In the development of a high speed and light weight manipulator, it is necessary to consider the flexibility of a robotic arm. The infinite dynamics must be analyzed to obtain the finite mode modeling to achieve the feasible controller design of the robotic arm. The modeling procedures of the flexible robot arm, and natural frequencies and mode shapes by the constrained and unconstrained mode method are illustrated. The transfer function of the robot arm with a payload is also shown. The controller is designed by the pole assignment and optimal control theory to compensate for the unmodelled dynamic effects to the low order system. Also, the pole assignment method involving the harmonic vibration mode is presented through computer simulation.
키워드