Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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Precision Control of Belt Drives using Feed Forward Compensator under Acceleration and Velocity Constraints

속도와 가속도 제한에서 전향 보상기를 이용한 벨트 구동의 정밀제어

  • 권세현 (한중대학교 컴퓨터공학과)
  • Published : 2009.07.31
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Abstract

Numerous applications of position controlling devices using servoing technique and transmission of energy through belt drives are practiced in the industry. Belt drive is a simple, lightweight, low cost power transmission system. Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. In this paper, precision positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method is demonstrated through computer simulation and experimental results.

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References

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