한국생산제조학회지 (Journal of the Korean Society of Manufacturing Technology Engineers)

  • 제19권5호
  • /
  • Pages.645-652
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  • 2010
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  • 2508-5093(pISSN)
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  • 2508-5107(eISSN)
한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
권호 표지

양팔 협조 유연 매니퓰레이터의 진동억제 제어

Vibration Suppression Control of Two Cooperating Flexible Manipulators

  • 김진수 (전주대학교 기계자동차공학과)
  • 투고 : 2010.02.26
  • 심사 : 2010.08.04
  • 발행 : 2010.10.15
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초록

For free motions, vibration suppression of single flexible manipulators has been one of the hottest research topics. However, for cooperative motions of multiple flexible manipulators, a little effort has been devoted for the vibration suppression control. So, the aim of this paper is to develop a hybrid force/position control and vibration suppression control scheme for multiple cooperation flexible manipulators handling a rigid object. In order to clarify the discussion, the motions of dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with hybrid position/force control scheme. Finally, Experiments are performed, and a comparison of experimental results is given to clarify the validity of our control scheme.

키워드

참고문헌

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