Transactions of the Korean Society for Noise and Vibration Engineering (한국소음진동공학회논문집)

The Korean Society for Noise and Vibration Engineering (한국소음진동공학회)
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Tendon Design for Master-slave Manipulator in Consideration of Constrained Force Reflection Control Structure

마스터-슬레이브 조작기에서 제한된 힘반영제어기 구조를 고려한 Tendon 설계

  • 강민식 (경원대학교 기계자동차공학과) ;
  • 윤우현 (경원대학교 토목공학과)
  • Published : 2009.10.20
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Abstract

In this work, a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. Since the measurable variables are the positions and rates of master/slave motors, only a constrained specific bilateral control structure is available. In the consideration of the flexibility of the tendon and constrained control structure, we derived a necessity for tendon design to prevent uncontrollable vibration mode through a modal analysis. Based on a reduced rigid body model, a control design was suggested and tendons were selected. The feasibility of the proposed analysis and tendon design were verified along with some simulation results.

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References

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