동력기계공학회지 (Journal of Power System Engineering)
- 제7권1호
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- Pages.34-41
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- 2003
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- 2713-8429(pISSN)
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- 2713-8437(eISSN)
잔류진동 감소를 위한 탄성 로봇 매니퓨레이터 경로설계 및 섭동적응제어의 적용
Flexible Robot Manipulator Path Design and Application of Perturbation Adaptive Control to Reduce Residual Vibration
초록
A method is presented for generating the path which significantly reduces residual vibration of a flexible robot manipulator and applying control theory to track the desired path. The desired path is optimally designed so that the system completes the required move with minimum residual vibration. A closed loop control theory is applied to track the planned path in the case of load variation. Specifically, it is desired that the optimally designed path has a better trajectory tracking capabilities during the residual vibration over the cycloidal path, in various cases of load. Perturbation adaptive control is used as closed loop control scheme. A planar two link manipulator is used to evaluate this method.
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