Journal of Advanced Marine Engineering and Technology

  • 제20권1호
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  • Pages.37-43
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  • 1996
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  • 2234-7925(pISSN)
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  • 2234-8352(eISSN)
한국마린엔지니어링학회 (The Korean Society of Marine Engineering)
권호 표지

협조로보트 시스템의 동적 Decoupling과 안정도연구

A Dynamic Decoupling of Two Cooperating Robot System and Stability Analysis

  • 발행 : 1996.02.01
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초록

This paper presents a new control scheme for decoupling the dynamics of two coordinating robot manipulators. A simple full-state feedback scheme with configuration dependent gains can be devised to decouple the system dynamics such that the dynamics of each arm and that of an object held by the two arms is independent of one another. A condition for stability is shown. The advantage of the proposed scheme is that the same control scheme can be applied both for the closed kinematic chain(object-grasping) case and open kinematic chain(no object-grasping) case.

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참고문헌

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